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Purpose of Documentation This documentation contains the descriptions of all parameters implemented
in the firmware for drive controllers of the IndraDrive range. It supports the
drive controller parameterization.
Table of Contents
Table of Contents
Page
1 Documentations............................................................................................................. 3
1.1 Drive systems, system components....................................................................................................... 3
1.2 Motors..................................................................................................................................................... 4
1.3 Cables..................................................................................................................................................... 4
1.4 Firmware................................................................................................................................................. 4
1.5 Control unit............................................................................................................................................. 5
3 General information..................................................................................................... 17
3.1 Document structure.............................................................................................................................. 17
4 Product-specific parameters........................................................................................ 21
4.1 P-0-0000 to P-0-0100 General functions.............................................................................................. 21
4.2 P-0-0101 to P-0-0200 General Functions............................................................................................. 89
4.3 P-0-0201 to P-0-0500 General functions............................................................................................ 158
4.4 P-0-0501 to P-0-0689 General functions ........................................................................................... 267
4.5 P-0-0690 to P-0-0799 Synchronization mode..................................................................................... 351
4.6 P-0-0800 to P-0-0899 Power supply................................................................................................... 385
4.7 P-0-0900 to P-0-0999 Encoder emulation.......................................................................................... 398
4.8 P-0-1000 to P-0-1099 Encoder evaluation......................................................................................... 418
4.9 P-0-1100 to P-0-1269 Velocity control................................................................................................ 428
4.10 P-0-1270 to P-0-1499 Drive-integrated PLC....................................................................................... 464
4.11 P-0-1500 to P-0-1599 Device parameters.......................................................................................... 536
4.12 P-0-1600 to P-0-1799 Cross Communication Drives, CCD................................................................ 554
4.13 P-0-1800 to P-0-1999 Cross Communication Drives, CCD................................................................ 669
4.14 P-0-2000 to P-0-2299 General device parameters............................................................................. 806
4.15 P-0-2300 to P-0-2999 16-bit alias IDNs.............................................................................................. 820
4.16 P-0-3000 to P-0-3199 Encoder memory............................................................................................. 856
4.17 P-0-3200 to P-0-3599 Safety technology............................................................................................ 884
4.18 P-0-3600 to P-0-4067 General device parameters........................................................................... 1001
4.19 P-0-4068 to P-0-4095 Field bus and serial communication.............................................................. 1110
Table of Contents
Page
5.6 S-0-1700 to S-0-1799 Power supply parameters............................................................................. 1470
5.7 S-0-1800 to S-0-1830 CIP Safety on sercos.................................................................................... 1513
Index........................................................................................................................ 1533
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 3/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Documentations
1 Documentations
1.1 Drive systems, system components
Drive systems, system components
Operator Display
Documentations
1.2 Motors
Title Kind of documentation Document typecode1) Material number
Rexroth IndraDyn … DOK-MOTOR*-… R911…
1.3 Cables
Title Kind of documentation Document typecode1) Material number
DOK-CONNEC-… R911…
1.4 Firmware
Title Type of documentation Document typecode1) Material number
Rexroth IndraDrive ... DOK-INDRV*-… R911…
Documentations
Easy setup for Standard Turning and Commissioning Manual EASY*******-COxx-EN-P 332281
Milling Machines
12VRS Manual SYS*DES*V12-RExx-EN-P 334369
System Description
6/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Documentations
● Applications for functional safety are only allowed if clearly and explicitly
specified in the application documentation "Integrated Safety Technolo‐
gy". If this is not the case, they are excluded. Functional safety is a safe‐
ty concept in which measures of risk reduction for personal safety de‐
pend on electrical, electronic or programmable control systems.
● The information given in the application documentation with regard to
the use of the delivered components contains only examples of applica‐
tions and suggestions.
The machine and installation manufacturers must
– make sure that the delivered components are suited for their indi‐
vidual application and check the information given in this applica‐
tion documentation with regard to the use of the components,
– make sure that their individual application complies with the appli‐
cable safety regulations and standards and carry out the required
measures, modifications and complements.
● Commissioning of the delivered components is only allowed once it is
sure that the machine or installation in which the components are instal‐
led complies with the national regulations, safety specifications and
standards of the application.
● Operation is only allowed if the national EMC regulations for the applica‐
tion are met.
● The instructions for installation in accordance with EMC requirements
can be found in the section on EMC in the respective application docu‐
mentation.
The machine or installation manufacturer is responsible for compliance
with the limit values as prescribed in the national regulations.
● The technical data, connection and installation conditions of the compo‐
nents are specified in the respective application documentations and
must be followed at all times.
National regulations which the user has to comply with
● European countries: In accordance with European EN standards
● United States of America (USA):
– National Electrical Code (NEC)
– National Electrical Manufacturers Association (NEMA), as well as
local engineering regulations
– Regulations of the National Fire Protection Association (NFPA)
● Canada: Canadian Standards Association (CSA)
● Other countries:
– International Organization for Standardization (ISO)
– International Electrotechnical Commission (IEC)
● Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electric drive systems!
● Risk of burns by hot housing surfaces!
● Risk of injury by improper handling! Injury by crushing, shearing, cutting,
hitting!
● Risk of injury by improper handling of batteries!
● Risk of injury by improper handling of pressurized lines!
Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating components of the electric drive
and control system, it is unavoidable that some parts of these components
conduct dangerous voltage.
High electrical voltage! Danger to life, risk of injury by electric shock or seri‐
ous injury!
● Only qualified persons are allowed to operate, maintain and/or repair the
components of the electric drive and control system.
● Follow the general installation and safety regulations when working on
power installations.
● Before switching on, the equipment grounding conductor must have
been permanently connected to all electric components in accordance
with the connection diagram.
● Even for brief measurements or tests, operation is only allowed if the
equipment grounding conductor has been permanently connected to the
points of the components provided for this purpose.
● Before accessing electrical parts with voltage potentials higher than
50 V, you must disconnect electric components from the mains or from
the power supply unit. Secure the electric component from reconnec‐
tion.
● With electric components, observe the following aspects:
Always wait 30 minutes after switching off power to allow live capacitors
to discharge before accessing an electric component. Measure the elec‐
trical voltage of live parts before beginning to work to make sure that the
equipment is safe to touch.
● Install the covers and guards provided for this purpose before switching
on.
● Never touch any electrical connection points of the components while
power is turned on.
● Do not remove or plug in connectors when the component has been
powered.
● Under specific conditions, electric drive systems can be operated at
mains protected by residual-current-operated circuit-breakers sensitive
to universal current (RCDs/RCMs).
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 11/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
High housing voltage and high leakage current! Danger to life, risk of injury
by electric shock!
● Before switching on and before commissioning, ground or connect the
components of the electric drive and control system to the equipment
grounding conductor at the grounding points.
● Connect the equipment grounding conductor of the components of the
electric drive and control system permanently to the main power supply
at all times. The leakage current is greater than 3.5 mA.
● Establish an equipment grounding connection with a minimum cross
section according to the table below. With an outer conductor cross sec‐
tion smaller than 10 mm2 (8 AWG), the alternative connection of two
equipment grounding conductors is allowed, each having the same
cross section as the outer conductors.
Cross section outer con‐ Minimum cross section equipment grounding conductor
ductor Leakage current ≥ 3.5 mA
1 equipment grounding 2 equipment grounding
conductor conductors
10 mm2 (8 AWG) -
16 mm2 (6 AWG) -
35 mm2 (2 AWG) -
Danger to life, risk of injury by electric shock! High electrical voltage by incor‐
rect connection!
If extra-low voltage circuits of devices containing voltages and circuits of
more than 50 volts (e.g., the mains connection) are connected to Rexroth
products, the connected extra-low voltage circuits must comply with the re‐
quirements for PELV ("Protective Extra-Low Voltage").
tric drive and control system and the associated current-carrying con‐
ductors.
DANGER
In case of non-compliance with this safety instruction, death or serious injury
will occur.
WARNING
In case of non-compliance with this safety instruction, death or serious injury
could occur.
CAUTION
In case of non-compliance with this safety instruction, minor or moderate in‐
jury could occur.
NOTICE
In case of non-compliance with this safety instruction, property damage could
occur.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 17/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
General information
3 General information
3.1 Document structure
3.1.1 General information
All standard and product-specific parameters are listed in this documentation
in a numerically ascending order. In addition to the data contained in the
functional description, it represents a complete description of all parameters
used in the drive firmware. The description of the individual parameters is
divided into four subsections
2. Allocation:
This overview shows in which firmware version, in which functional pack‐
age(s) and for which hardware the parameter is available.
Hardware:
This overview shows whether the parameter is only available in connection
with specific hardware or a specific configuration. Special hardware require‐
ments may be directly specified in the parameter description and marked with
"s. text".
CoC: Available for active master communication with CAN hardware or with
CANopen communication profile CANopen via CAN.
CoE: Available for active master communication with CANopen communica‐
tion profile EtherCAT.
18/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
General information
General information
Functional packages:
Parameters are assigned to functional packages and only accessible as long
as the particular functional package is active:
Device parameters:
device-specific: The parameter applies to a specific device. If the device is a
multi-axis device, each axis accesses the same data.
axis-specific: The parameter applies to a specific axis. If the device is a multi-
axis device, each axis has its own defined data.
4. Attributes
The characteristic values and features specified help to classify the parame‐
ter.
20/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
General information
Firmware variants:
See also functional description "Overview of drive firmware"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 21/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
4 Product-specific parameters
4.1 P-0-0000 to P-0-0100 General functions
4.1.1 P-0-0001, Switching frequency of the power output stage
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Hardware --
Funct. package(s): --
Device parameter: device-specific
Function This parameter can be used to set the switching frequency of the power out‐
put stage (fPWM) as desired within the frequencies supported by each power
section.
The higher the clock frequency selected, the lower the continuous
output current of the controller.
22/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter contains a rotary counter for consistent reconstruction of the
PARAM_SP memory area when the system is started the next time.
Function This parameter provides status information about present storage processes
of the drive. As long as one of these bits is set, parameter changes in the re‐
lated memory area are not completed yet. If the drive is switched off in this
state, parameters will be lost.
Structure
Bit Designation/function Comment
Product-specific parameters
Function The time constant which can be activated in this parameter acts in the veloci‐
ty controller and is suitable for suppressing quantization effects and for limit‐
ing the bandwidth of the velocity control loop.
See also Functional Description "Velocity Control"
Use The limit frequency is derived from the smoothing time constant T via the re‐
lationship:
Product-specific parameters
Function This parameter can be used to switch the display of diagnostic messages in
"S-0-0390" to the compatibility mode. Then, in "S-0-0390" only bits 19 to 0
are written, whereas bits 31 to 20 are always 0, like in firmware version
17VRS (and earlier versions).
Product-specific parameters
Function This parameter contains the display suitable for "S-0-0095 Diagnostic mes‐
sage".
Example: "AF" or "PL"
See also Functional Description "Coded Diagnoses of the Drive"
P-0-0007 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used for activating the E-Stop input and selecting a reac‐
tion for the shutdown of the drive.
See also Functional Description "E-Stop Function"
Structure
0 Activation of E-Stop
0: Inactive
1: Active
1 Error class in the case of interpretation as an error (bit 2 =
0)
0: Best possible deceleration (P-0-0119)
1: Velocity command value set to zero
2 Interpretation
0: As non-fatal error
1: Fatal warning
Product-specific parameters
Function When the drive diagnoses a class 1 diagnostics error, a bit is set in parame‐
ter "S-0-0011, Class 1 diagnostics". Bit 13 for "Error in class 1 diagnostics" is
then set in the drive status word.
See also Functional Description "Error Memory (Power Section and Control
Section)"
Use In order to allow a more detailed diagnosis
● the diagnostic number appears on the display and is stored in parame‐
ter "S-0-0390, Diagnostic message number",
● the plain text diagnosis is stored in parameter "S-0-0095, Diagnostic
message"
● and the respective error number is stored in parameter "P-0-0009, Error
number".
When there isn't any error present, the value of parameter P-0-0009, Error
number equals 0.
Example for a diagnosis:
S-0-0390: F8022 (hex)
P-0-0009: 8022 (decimal)
S-0-0095: F8022 Enc. 1: enc. signals incorr. (can be cleared in ph. 2)
P-0-0009 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter contains a list of the IDNs of those parameters the datum of
which was changed with regard to the default value.
Criteria for inclusion in "P-0-0013":
● The parameter is a buffered application parameter.
● The parameter has a value <> than the default value or does not have a
default value.
● Parameter P-0-4084 is always included, if it is available.
In the case of master communications, which cannot handle EIDNs (e.g.
EtherCAT), the assigned instance parameter may be entered, if required.
See also Functional Description "Parameters, Basics"
P-0-0013 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
28/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The command "P-0-0014" serves for checking the reference marks detection
of an incremental measuring system.
See also functional description "Get marker position"
Use If the command is activated, the detected reference mark of the position com‐
mand value of the measuring system is stored in the parameter "S-0-0173,
Marker position A" and the command is reported as finished. If the drive is
fitted with an encoder 2 in addition to encoder 1, bit 3 defines from "S-0-0147,
Homing parameter" in which encoder the position of the reference mark is
stored!
Function This parameter is used to parameterize the minimum pulse duration of the
power output stage. If the entered value = 0, no minimum pulses are ob‐
served.
P-0-0015 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: us Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Function In case of a non-homed drive (S-0-0403 = 0x0), the position feedback value
of encoder 1 (S-0-0051) and, if available, the position feedback value of en‐
coder 2 (S-0-0053) is set to the value of "P00019" during the initialization
process (command for transition from communication phase 3 to 4), if abso‐
lute encoder evaluation is not active.
See also parameter description: "S-0-0277 / S-0-0115"
Product-specific parameters
0 Oscilloscope
0: Axis oscilloscope (one separate oscilloscope for each
axis of a device)
1: Device oscilloscope (one common oscilloscope for all
axes of a device)
4 Mode The bit is not
0: Standard mode: The shortest recording cycle is the po‐ remanent.
sition control cycle After having
1: Expert mode: The current or velocity control cycle can been switched
be selected as the shortest recording cycle. Recording in on, the device
these cycles is not guaranteed. Subject to the work load of is always in
the control section, the recording cycle can therefore also standard
be longer. mode.
5 Trend mode
0: Standard recording with trigger signal. Multiple device
measurement is possible.
1: Recording is continuous without trigger signal. Meas‐
ured values are provided via "P-0-0280" which can be
read cyclically.
Function The measured values of channel 1 of the oscilloscope function are stored in
chronological order in parameter "P-0-0021, Oscilloscope: list of measured
values 1". The oldest measured value is the first element of the list of meas‐
ured values.
The recorded signal is the one identified by means of the IDN entered in
"P-0-0023, Oscilloscope: signal selection 1".
Product-specific parameters
Function The measured values of channel 2 of the oscilloscope function are stored in
chronological order in parameter "P-0-0022, Oscilloscope: list of measured
values 2". The oldest measured value is the first element of the list of meas‐
ured values.
The recorded signal is the one identified by means of the IDN entered in
"P-0-0024, Oscilloscope: signal selection 2".
Function The IDN entered in "P-0-0023, Oscilloscope: Signal selection 1" defines the
signal that is to be recorded by channel 1.
Only such IDNs are allowed that are contained in the list "P-0-0149, Oscillo‐
scope: Signal selection list".
When the recording is over, the recorded measured values are contained in
parameter "P-0-0021, Oscilloscope: List of measured values 1".
See also Functional Description of firmware "Oscilloscope Function"
P-0-0023 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The IDN entered in "P-0-0024, Oscilloscope: Signal selection 2" defines the
signal that is to be recorded by channel 2.
Only such IDNs are allowed that are contained in the list "P-0-0149, Oscillo‐
scope: Signal selection list".
After recording has been completed, the recorded measured values are con‐
tained in parameter "P-0-0022, Oscilloscope: List of measured values 2".
See also Functional Description "Oscilloscope Function"
P-0-0024 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function For trigger signals with the display format "Bin" and "Hex", it is possible by
means of parameter "P-0-0025, Oscilloscope: trigger mask" to put an addi‐
tional trigger mask over the trigger signal and trigger threshold before the
comparison. On all other display formats of the trigger signal the parameter
doesn't have any effect.
See also Functional Description "Oscilloscope Function"
P-0-0025 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
.
P-0-0026 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter "P-0-0027, Oscilloscope: trigger level" is the comparative val‐
ue for the trigger function.
See also Functional Description "Oscilloscope Function"
Use Depending on the selected trigger edge (P-0-0030), the bit for "internal trig‐
ger" (P-0-0037, bit 2) is set when the trigger condition has been reached.
Before that bit 8 and bit 9 in the status word (P-0-0029) indicate whether the
value of the selected trigger source is above or below the trigger level or
whether the value corresponds to the trigger level.
Product-specific parameters
Function The parameter "P-0-0028, Oscilloscope: Control word" contains (except for
the operation mode) all settings for controlling the oscilloscope. These set‐
tings contain the selection for trigger offset measurement and the activation
(start/stop) of the oscilloscope.
See also Functional Description "Oscilloscope Function"
Structure
Bit Designation/function Comment
0 Start of recording
0: Recording is stopped
1: Recording is started
1 Kind of trigger
0: Internal trigger (without offset measurement)
1: External trigger (with offset measurement)
Function The parameter "P-0-0029, Oscilloscope: status word" displays the current
status of the oscilloscope function.
See also Functional Description "Oscilloscope Function"
Structure
Bit Designation/function Comment
0 start of recording
0: Recording by P-0-0028, bit 0 stopped or completed.
1: Recording by P-0-0028, Bit 0 started. Change of some
oscilloscope parameters locked.
1 trigger start
0: trigger function completed
1: Trigger function started. Internal trigger not yet re‐
leased. Comparison continues to run.
36/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter "P-0-0030, Oscilloscope: Trigger edge" determines the edge
at which the "internal trigger" (P-0-0029, bit 2) is triggered.
See also the functional description: "Oscilloscope Function"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 37/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The time resolution of the oscilloscope function (i.e. the sampling rate) can be
defined by means of parameter "P-0-0031, Oscilloscope: Time resolution".
This allows the signals to be recorded maximally (= highest sampling rate) in
the position controller clock cycle (Advanced: 250 µs, Basic: 500 µs, Low
Performance: 1 ms).
The following is valid for parameterizing "P-0-0031":
● The input range of "P-0-0031" depends on the hardware and firmware
used (and the performance set in "P-0-0556")
● When new values are entered, they are automatically substituted by
multiples of the minimum value
.
See also Functional Description "Oscilloscope function"
P-0-0031 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: us Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The size of memory defines the number of measured values to be recorded
per measurement. A maximum of 8192 measured values can be recorded
per channel. By means of the size of memory and the time resolution
("P-0-0031, Oscilloscope: time resolution") you can determine the recording
time.
Product-specific parameters
Function This parameter is used as the start value for synchronization in a synchroni‐
zation mode with outer position control loop.
It contains the difference between "P-0-0753, Position actual value in actual
value cycle" and the synchronous position command value generated from
the master axis position. In the case of modulo scaling, the parameterized ac‐
tual value cycle is used as modulo range for P-0-0034.
P-0-0034 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function With the selection "trigger offset measurement" (P-0-0028, bit 1 = 1), the pa‐
rameter "P-0-0035, Oscilloscope: control offset" contains the number of
measured values that were recorded between the occurrence of the "internal
trigger" (P-0-0029, bit 2) and the occurrence of the "external trigger for trigger
offset measurement" (P-0-0036, bit 0). The parameter indicates the offset be‐
tween these two trigger sources and can be used for synchronizing the lists
of measured values of several drives via the master.
See also Functional Description "Oscilloscope Function"
See also Parameter Description "P-0-0028, Oscilloscope: control word"
P-0-0035 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Parameter "P-0-0035.0.1" contains the current system time at the point in
time, when the oscilloscope function of the drive was triggered. The parame‐
ter contains the trigger time with a resolution of 100 ns. It is filled with the
content of parameter "P-0-00197" when the drive oscilloscope is triggered.
40/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Structure Parameter "P-0-0035.0.1" is a 64-bit value with a structure in the form of a list
with two elements having a length of 4 bytes.
Element Content
Function The parameter "P-0-0036" is a real time control bit capable parameter and
can be parameterized in the real time channel of the interface and as hard‐
ware input.
See also Parameter Description "P-0-0028, Oscilloscope: control word"
See also Parameter Description "P-0-0136, Oscilloscope: manual trigger sig‐
nal"
See also Functional Description "Oscilloscope Function"
Structure
Bit Designation/function Comment
Product-specific parameters
Function The parameter "P-0-0037, Oscilloscope: internal trigger signal" contains the
status of the internal trigger. It is a real-time status bit capable parameter and
can be parameterized both in the real-time channel of the interface and as
hardware output.
See also the functional description: "Oscilloscope Function"
Structure
Bit Designation/function Comment
0 internal trigger
0: Internal trigger not yet triggered. Comparison still active.
1: Internal trigger triggered. Comparison successfully com‐
pleted.
Product-specific parameters
Function Display parameter for the current command value component that generates
the magnetic flux in the motor. The flux-generating current is output of the
flux loop that is processed in the position loop cycle time.
In the case of asynchronous motors the flux-generating current nominally cor‐
responds to "P-0-4004, Magnetizing current". Differing from this value, the
flux-generating current command value is reduced, if:
● "P-0-0532, Premagnetization factor" of less than 100% was selected
and the motor is in no-load operation,
● the motor is operated in the field weakening range.
Synchronous motors do not require flux-generating current. The field weak‐
ening operation is an exception. In this case the controller generates a nega‐
tive flux-generating current in order to weaken the permanent field!
P-0-0039 - Attributes Function: Par Editable: OM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: A Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function By means of the velocity feedforward control, which can be freely set via
"P-0-0040, Velocity feedforward evaluation”, it is possible to set the following
distance at constant velocity to a desired percentage value. A minimum (ide‐
ally = 0) is obtained at 100 %. The degree of feedforward control can be set
within the range of 0 %...120 %.
Product-specific parameters
This filter type therefore does not show the typical “creeping be‐
havior” (filter output rises and falls after an e-function) of common
VZ1 and VZ2 filters used otherwise.
Product-specific parameters
Function The parameter indicates the effective filter order M of the position command
value filter, which is designed as moving average filter.
Product-specific parameters
Function Display parameter for the torque-generating component of the measured ac‐
tual current value. The value is updated with the current loop cycle time.
Function Display parameter for the content of the measured actual current value that
generates the magnetic flux in the motor. The value is updated with current
loop cycle time.
Product-specific parameters
Product-specific parameters
Product-specific parameters
If the motor does not yet run in an optimum way after the men‐
tioned commands were executed, the motor control parameters
can be manually changed.
Function This parameter indicates states which have an effect on the proper behavior
of the current controller.
Structure
Bit Designation/function Comment
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function In the "position control" mode the control unit by means of "S-0-0047" and in
the clock of its interpolation cycle time writes the cyclic position command
values to the drive.
If required, these position command values coming directly from the control
unit can be read via "P-0-0047, Position command value control"!
The interpolation cycle time of the control unit (cf. "S-0-0001") can
be a multiple of the communication cycle time (cf. "S-0-0002") so
that "P-0-0047" is also updated on the same time base!
See also Functional Description "Position Control with Cyclic Command Val‐
ue Input"
P-0-0047 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function By means of this parameter it is possible to display the velocity command val‐
ue at the summing point of the velocity controller.
Product-specific parameters
Function This parameter is used to display the torque/force command value after static
torque/force limitation by means of "S-0-0082" and "S-0-0083".
See also functional description "Torque/force control"
See also functional description "Velocity controller"
See also functional description "Current and torque/force limitation"
Use When using the parameter, observe the following aspects:
● Possibly effective additive torque command value components
(P-0-0455) of the optional cogging torque compensation and accelera‐
tion feedforward are not contained in "P-0-0049".
● The torque command value contained in "P-0-0049" is again limited by
the subsequent dynamic torque/current limitation. The result is
"P-0-0038, Torque-generating current, command value" which results
from multiplication with "P-0-0051, Torque/force constant" and is trans‐
mitted to the current controller.
Function The torque/force constant specifies the ratio between the motor torque/force
and the associated torque-generating current of a motor.
The following requirements must have been fulfilled:
Synchronous motor:
● Motor temperature 20°C
● Motor current up to the level of the continuous current
Asynchronous motor:
● correct value in "P-0-4004, Magnetizing current"
● "P-0-0532 Premagnetization factor" of 100%
● operation without field weakening
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 53/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
When the motor is operated under deviating conditions, the active torque/
force constant changes. It is displayed in "P-0-0450, Torque/force constant".
Function This parameter indicates the current position of the measuring encoder at the
measuring gear output. Initialization depends on the type of measuring en‐
coder used.
Product-specific parameters
Function The master axis position as actual position of a master axis is used for com‐
mand value input for the synchronous operation modes.
The master (e.g. MLD) presets it cyclically in equidistant intervals (NC clock)
to the drive as (virtual) master axis.
In the following operation modes, this parameter is used for command value
input for the drive:
● Velocity synchronization
● Phase synchronization
● Electronic cam
● Electronic motion profile
● Position synchronization
See also Functional Description "Operation Modes for Synchronization"
P-0-0053 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Parameter "P-0-0054" can be used to add a "Master axis position offset" to
the following master axis positions:
● P-0-0053, Master axis position
● P-0-0052, Actual position value of measuring encoder
● P-0-0761, Master axis position for slave axis
● P-0-0787, Group axis 1 position
See also Functional Description "Synchronization Modes"
See Parameter Description "P-0-0775, Resulting Master Axis Position"
Use When using the parameter, observe the following aspects:
● Any change in "P-0-0054" is traveled with a 2nd order interpolator, tak‐
ing parameters "P-0-0688, Additive master axis position, positioning ve‐
locity" and "P-0-0689, Additive master axis position, positioning acceler‐
ation" into account.
● The minimum/maximum value of "P-0-0054" corresponds to the master
axis cycle (P-0-0750 * 2P-0-0084).
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 55/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function In the case of error it is possible to set the "return" error reaction, depending
on the setting of the "Best possible deceleration" parameter. The drive gener‐
ates a position command value profile for the return distance, in considera‐
tion of the adjustable return velocity and return acceleration and complying
with the position limit values. The return distance is entered in parameter
P-0-0055. A positive return distance will cause positive motion with reference
to the selected coordinate system. The P-0-0055, Return distance parameter
can be transmitted in the cyclic telegram (MDT).
See also Functional Description "Best Possible Deceleration"
P-0-0055 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function In the case of error it is possible to set the "return" error reaction, depending
on the setting of the "Best possible deceleration" parameter. The drive gener‐
ates a position command value profile for the return distance, in considera‐
tion of the adjustable return velocity and return acceleration and complying
with the position limit values. The return velocity is entered in parameter
P-0-0056.
See also Functional Description "Best Possible Deceleration"
P-0-0056 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: -- Decim. pl.:
S-0-0046
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
56/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function In the case of error it is possible to set the "return" error reaction, depending
on the setting of the "Best possible deceleration" parameter. The drive gener‐
ates a position command value profile for the return distance, in considera‐
tion of the adjustable return velocity and return acceleration and complying
with the position limit values. The return acceleration is entered in parameter
P-0-0057.
See also Functional Description "Best Possible Deceleration"
P-0-0057 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0161 /
Unit: S-0-0160 Extr. val. ch.: + Decim. pl.:
S-0-0162
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function In the case of error it is possible to set the "return" error reaction, depending
on the setting of the "Best possible deceleration" parameter. The drive gener‐
ates a position command value profile for the return distance, in considera‐
tion of the adjustable return velocity and return acceleration and complying
with the position limit values. In addition, the position command values can
be smoothed by a position command value average filter. The return jerk is
entered in parameter P-0-0058. It affects the effect of the position command
value average filter.
See also Functional Description "Best Possible Deceleration"
P-0-0058 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0161 /
Unit: S-0-0160 Extr. val. ch.: + Decim. pl.:
S-0-0162
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter serves to add an additional (additive) position command val‐
ue to the position command value generated by command value adjustment.
This additional command value is not subject to any limitation or change. This
is why the user has to make sure that absolute value, characteristic and the
derived variables are within their allowed ranges of values!
See also Functional Description "Position Control With Cyclic Command Val‐
ue Input", "Drive-Internal Interpolation", "Drive-Controlled Positioning" and
"Positioning Block Mode".
Use Feedforward values (velocity feedforward, acceleration feedforward) are de‐
rived from the position command value characteristic. In "P0-0556, Config
word of axis controller", you can set whether the values of "P0-0059, Additive
position command value, controller" are included in the generation of the
feedforward values or whether they are afterwards added to the position
command value generated by command value adjustment. Parameter
"P-0-0059, Additive position command value, controller" is overwritten with
"0" if there is an internal error reaction in the drive.
This parameter is used, for example, by the drive firmware to set command
values from the firmware-internal command value generator without limitation
and deformation (noise generator for control loop analysis). It can, for exam‐
ple, also be used by the control master for adding feedforward values!
P-0-0059 - Attributes Function: Par Editable: OM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter serves for parameterization of the filter effect for the additive
position command value (see P-0-0692), which is filtered via a VZ1 filter
(PT1).
See also Functional Description "Basic Functions of the Synchronization
Modes"
Use When using the parameter, observe the following aspects:
58/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This is the angle by which the access to the access to the cam table or Mo‐
tionProfile is offset in negative direction in relation to the master axis position
(P-0-0776).
P-0-0061 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: Deg Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Display parameter for the torque-generating component of the voltage output
by the current loop. The value is updated with the current loop cycle time.
P-0-0063 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: V Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function Display parameter for the flux-generating component of the voltage output by
the current loop. The value is updated with the current loop cycle time.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 59/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter displays the absolute value of the voltage output by the cur‐
rent loop which consists of the voltage components Ud and Uq.
Function This parameter is used to display the actual current value in the motor
phase U measured in the current loop clock (TA, current).
See also Functional Description "Performance Data"
P-0-0067 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: A Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter is used to display the actual current value in the motor
phase V measured in the current loop clock (TA, current).
60/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter displays the additive torque/force command value effective in
the drive.
The value of the parameter is applied from the torque/force command value
in an additive way (S-0-0081). Usually, this is done without any delay. If the
external acceleration feedforward control function is used, however, applica‐
tion of the value from parameter "Delay of add. command values" (P-0-0458)
is delayed.
See also Functional Description "Velocity Loop"
P-0-0070 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: -- Decim. pl.:
S-0-0094
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function By means of the command C1300, it is possible in the operating mode (OM,
bb, Ab) to recalculate the actual value cycle depending on the parameter
"P-0-0155, Synchronization mode", bit 4 "generation of actual value cycle".
After the command has been completed, it is necessary to start the command
"C0300 Set absolute position procedure command" (S-0-0447) in order to ini‐
tialize the actual position values.
See also Functional Description "Synchronization Modes"
P-0-0071 - Attributes Function: Cmd Editable: OM Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Parameter "P-0-0072" contains a table with data points tab (φ) for the profile
of cam 1.
Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
● 4 cam tables with 3 to 1024 data points (P-0-0072, P-0-0092, P-0-0780,
P-0-0781)
● 4 cam tables with 3 to 128 data points (P-0-0782, P-0-0783, P-0-0784,
P-0-0785)
0 0 0
1 25 33,33
2 50 66,66
3 75 100
Tab. 4-15: Example of a Linear Cam Table (0 - 100% With 4 Data Points) With
Old and New Standard
● The actual values of the cam table are percentage values. They can be
between -799.999999% and 799.999999%.
● A value of 100% results in a position that corresponds to the active dis‐
tance (P-0-0093 or P-0-0073). The position of the slave axis is deter‐
mined by means of the positions determined in this way.
Use When using the parameter, observe the following aspects:
● When the table is used for the cam mode, the values are always map‐
ped to one master axis revolution (360°).
● When the table is used for a motion step of the MotionProfile mode, the
table applies from the master axis initial angle of this step to the master
axis initial angle of the following step.
● The data point distance dφ depends on whether the last table value is to
apply to the end angle of the table or to the end angle - dφ. This infor‐
mation on the table format must be set in bit 8 of "P-0-0086, Configura‐
tion word synchronous operation modes".
62/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
If the last table value applies to the end angle, the relationship is as follows:
When you use the table in the "MotionProfile" mode, the first table
value must be "0". The last table value must be for the master ax‐
is end angle (bit 8, P-0-0086 = 1)!
min./max.: -799,999999 /
MPx / PSB: Default value: s. Text
799,999999
Function The distance 2 is used for the function "clocked pull roll". The function is acti‐
vated via bit 2 = 1 in the parameter "P-0-0086, Configuration word synchro‐
nous operation modes "
This means that if the difference between the new cam table value and the
old cam table value is negative, the profile of the cam is multiplied with dis‐
tance 2 (function "clocked pull roll").
See also Functional Description "Electronic Cam With Real/Virtual Master
Axis"
P-0-0073 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used to inform the controller about the encoder type which
is to be evaluated as a motor encoder.
Structure
Increase value in
Control Sections
All Devices
except Economy
Economy
P-0-0074
and
Motor encoder used
Product-specific parameters
Function This parameter is used to inform the controller about the encoder type which
is to be evaluated as encoder 2.
See also functional description "Motor, mechanical axis system, measuring
systems"
See also project planning manual "Drive System with HCS01"
Structure
0 No encoder
1 Reserved
2 (16*) Encoder with sine signals (1Vpp, 5V or 12V supply)
3 Reserved
4 Encoder with sine signals and HIPERFACE1) interface (1Vpp, 12V supply)
5 (18*) Encoder with square-wave signals (TTL, 5 V or 12 V supply)
6 (8*) Encoder with sine signals and EnDat2.1 interface (1Vpp, 5V or 12V supply)
7 Reserved
10 Reserved
26 Digital encoder (sercos encoder profile)
Product-specific parameters
Function This parameter is used to inform the controller about the encoder type which
is to be evaluated as measuring encoder.
See also Functional Description "Measuring Encoder"
See also Project Planning Manual "Drive System With HCS01"
Structure
Product-specific parameters
Function This parameter determines the interface intended for encoder 1 function.
0 None
1 X4 (interface 1 => preferred slot for encoder 1)
2 X8 (interface 2)
4 X10 (interface 4)
20 Master communication (Sercos)
0 None
1 X4 (interface 1 => preferred slot for encoder 1)
2 X8 (interface 2)
4 X10 (interface 4)
20 Master communication (Sercos)
21 CCD (Sercos)
Product-specific parameters
0 None
1 X4.1 (interface 1, encoder evaluation axis 1)
2 X4.2 (interface 2, encoder evaluation axis 2)
3 X8 (interface 3, freely assignable encoder evaluation)
6 X10 (interface 6, freely assignable encoder evaluation)
20 Master communication (Sercos)
0 None
1 X4.1 (encoder evaluation axis 1)
2 X4.2 (encoder evaluation axis 2)
3 X4.3 (encoder evaluation axis 3)
4 X4.4 (encoder evaluation axis 4)
5 X8 (freely assignable encoder evaluation)
20 Master communication (Sercos)
Product-specific parameters
0 None
1 X4 (interface 1)
2 X8 (interface 2)
4 X10 (interface 4)
20 Master communication (Sercos)
0 None
1 X4 (interface 1)
2 X8 (interface 2)
4 X10 (interface 4)
20 Master communication (Sercos)
21 CCD (Sercos)
0 None
1 X4.1 (interface 1, encoder evaluation axis 1)
2 X4.2 (interface 2, encoder evaluation axis 2)
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 69/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
0 None
5 X8 (freely assignable encoder evaluation)
20 Master communication (Sercos)
Function This parameter determines the interface intended for measuring encoder
function.
Single-axis, MPB firmware
P-0-0079 Interface for connecting the measuring encoder or for measuring en‐
coder evaluation
0 None
1 X4 (interface 1)
2 X8 (interface 2)
4 X10 (interface 3)
20 Master communication (Sercos)
P-0-0079 Interface for connecting the measuring encoder or for measuring en‐
coder evaluation
0 None
1 X4 (interface 1)
2 X8 (interface 2)
4 X10 (interface 3)
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
P-0-0079 Interface for connecting the measuring encoder or for measuring en‐
coder evaluation
20 Master communication (Sercos)
21 CCD (Sercos)
P-0-0079 Interface for connecting the measuring encoder or for measuring en‐
coder evaluation
0 None
1 X4.1 (interface 1, encoder evaluation axis 1)
2 X4.2 (interface 2, encoder evaluation axis 2)
3 X8 (interface 3, freely assignable encoder evaluation)
6 X10 (interface 6, freely assignable encoder evaluation)
20 Master communication (Sercos)
P-0-0079 Interface for connecting the measuring encoder or for measuring en‐
coder evaluation
0 None
1 X4.1 (encoder evaluation axis 1)
2 X4.2 (encoder evaluation axis 2)
3 X4.3 (encoder evaluation axis 3)
4 X4.4 (encoder evaluation axis 4)
5 X8 (freely assignable encoder evaluation)
20 Master communication (Sercos)
Product-specific parameters
Function This parameter determines the interface intended for the motor encoder func‐
tion.
0 None
1 X4 (interface 1 => preferred slot for motor encoder)
2 X8 (interface 2)
4 X10 (interface 4)
20 Master communication (Sercos)
Product-specific parameters
0 None
1 X4 (interface 1 => preferred slot for motor encoder)
2 X8 (interface 2)
4 X10 (interface 4)
20 Master communication (Sercos)
21 CCD (Sercos)
0 None
1 X4.1 (interface 1, encoder evaluation axis 1)
2 X4.2 (interface 2, encoder evaluation axis 2)
3 X8 (interface 3, encoder evaluation can be freely assigned)
6 X10 (interface 6, encoder evaluation can be freely assigned)
20 Master communication (Sercos)
0 None
1 X4.1 (encoder evaluation axis 1)
2 X4.2 (encoder evaluation axis 2)
3 X4.3 (encoder evaluation axis 3)
4 X4.4 (encoder evaluation axis 4)
5 X8 (encoder evaluation can be freely assigned)
20 Master communication (Sercos)
Product-specific parameters
Function The gear ratio of the electronic gear is changed by this percentage.
See also Functional Description "Synchronization Modes"
Use The values can be between - 799,999999% and 799,999999%.
gear ratio (GR) = gear ratio * (1 + P-0-0083)
Example:
P-0-0083 = 100% -> GR = GR * 2
P-0-0083 = - 100% -> GR = GR * 0
P-0-0083 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: % Extr. val. ch.: + Decim. pl.: 6
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
min./max.: -799,999999 /
MPx / PSB: Default value: 0,000000
799,999999
Product-specific parameters
Function With this parameter it is possible to dynamically offset the effective master
axis position according to the following equation:
Fig. 4-8: Example for Calculating an Effective Internal Master Axis Position
In this example the internal master axis position is offset by 2^P-0-0084 incr.
The figure below illustrates the offset position command value and actual po‐
sition value with P-0-0085 = 100%:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 75/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Fig. 4-9: Offset Position Command Value and Actual Position Value With
P‑0‑0085 = 100%
Function This parameter serves to make various basic settings for synchronization op‐
eration modes.
See also Functional Description "Synchronization Modes"
Structure
Bit Designation/function Comment
0 Distance switching
0: Distance switching at distance switch angle / cam table
switching
1: Distance switching at once
1 Gear switching
0: The change takes immediate effect
1: The change takes place on distance switching / cam ta‐
ble switching
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
● Bit 1: Allows selecting whether new values for the master drive gear
(P-0-0093) take immediate effect or not before the distance switch angle
is crossed or the cam table is switched.
● Bit 2: Allows switching between cam distance 1 (P-0-0093) and cam dis‐
tance 2 (P-0-0073) via bit 2 = 1 and in relation to the slope of the cam
table. If the gradient of the cam table is positive, cam distance 1
(P-0-0093) is active; with negative gradient, cam distance 2 (P-0-0073)
is active.
● Bit 3: Defines the reference point for the delayed acceptance of changes
(distance switch angle or cam table switching).
The examples below illustrate the cooperation among the bits:
● Bits 8... 15: These bits specify the format of the respective cam table
(see P-0-0072, P-0-0092, P-0-0780 to P-0-0785). If a table is to be used
for the MotionProfile, the last value in the table must be at the end angle
and the related bit must be set.
P-0-0086 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function The evaluation of the measuring encoder results in a position feedback value
of the measuring encoder.
Parameter "P-0-0087" can be used to apply an offset to the feedback posi‐
tion.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter can be used to control execution of the operation mode in
operating mode.
Product-specific parameters
Product-specific parameters
Function The parameter delivers useful status information regarding execution of syn‐
chronous operation modes and is evaluated toghether with "P-0-0086, Con‐
figuration word synchronous operation modes".
See also Functional Description "Synchronization Modes"
Structure The status parameter is a bit string with the following construction:
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function Parameter P-0-0092 contains a table with data points tab (φ) for the profile of
cam 2.
See also Parameter Description "P-0-0072, Cam table 1"
Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
● 4 cam tables with 3 to 1024 data points (P-0-0072, P-0-0092, P-0-0780,
P-0-0781)
● 4 cam tables with 3 to 128 data points (P-0-0782, P-0-0783, P-0-0784,
P-0-0785)
min./max.: -799,999999 /
MPx / PSB: Default value: s. Text
799,999999
Function This parameter determines the cam distance with which the profile of the cam
is multiplied.
See also Functional Description "Electronic Cam With Real/Virtual Master
Axis"
P-0-0093 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function When the master axis position exceeds this angle in position or in negative
direction, switching to that cam table takes place which was preselected by
parameter "P-0-0088, Control word synchronization modes".
The parameter "P-0-0089, Status word synchronization modes" then is set to
the activated cam table. When the drive is initialized for the first time, the cam
set in P-0-0088 is activated. In this case, too, the parameter P-0-0089 is set.
See also Functional Description "Electronic Cam With Real/Virtual Master
Axis"
P-0-0094 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: Deg Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function When switching on a drive with an absolute encoder 1, a check is run to de‐
termine whether the current position feedback value differs from the position
feedback value at the time the drive was switched off the last time.
If the difference exceeds the value defined in this parameter, error message
"F2074 Actual pos. value 1 outside absolute encoder window" is returned.
When switching the drive off, the current encoder data of encoder 1 are
saved in "P-0-0177".
Product-specific parameters
Function When switching on a drive with an absolute optional encoder (encoder 2), a
check is run to determine whether the current position feedback value of the
encoder differs from the position feedback value at the time the drive was
switched off the last time.
If the difference exceeds the value defined in this parameter, error message
"F2075 Actual pos. value 2 outside absolute encoder window" is returned.
When switching the drive off, the current encoder data of the absolute encod‐
er are saved in "P-0-0178".
Product-specific parameters
Function In operation modes with drive-internal position control, the position control
loop is also monitored in the drive. For this purpose, a "model position feed‐
back value" is calculated and compared to the actual position feedback value
(S-0-0051 or S-0-0053). The maximum value of deviation is saved in
"P-0-0098" and supports definition of the value of the lag monitoring window
(S-00159).
Product-specific parameters
Function The position command smoothing time constant determines the maximum
jerk possible in the case of operation modes with position control.
The maximum jerk is calculated from:
Function The parameter "P-0-0100, Position command value extension" extends the
parameter "S-0-0047" by 16 bits to 48 bits. This increases the resolution by 4
decimal places.
See also Parameter Description "S-0-0047, Position command value"
P-0-0100 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter configures the behavior of safety options "L3" and "L4".
See also Functional Description "Integrated Safety Technology"
Structure
Bit Designation/function Comment
Function This parameter contains a list of the points of time at which the diagnostic
drive message was changed. At each change of "S-0-0390 Diagnostic mes‐
sage number", the respective point of time (value from "P-0-0190, Operating
hours control section") is recorded. The last point of time at which the diag‐
nostic message was changed is entered in the first line of the list. All entries
already existing are moved down by one line. The list is full after 50 entries,
each other entry causes the oldest value to get lost.
Product-specific parameters
Function This parameter provides binary status signals regarding the current state of
safety options "L3" and "L4".
See also Functional Description "Integrated Safety Technology"
Structure The individual bits of the parameter have the following significance:
Bit Designation/function Comment
0 Diagnostic message:
0: Limited
1: Complete
1 Operating status STO/SBC:
0: Normal operation (NO)
1: Special mode (STO/SBC)
2 Status of output stage:
0: Output stage enabled by STO
1: Output stage locked by STO
3 Error status
0: No error
1: Error
Function This parameter defines the essential properties of the motor encoder.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 91/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
0 Encoder type
0: Rotary
1: Linear
3 Rotational direction
0: Not inverted
1: Inverted
Function The polarity of the master axis position is inverted acc. to the electronic gear‐
box with this parameter. Therwith, an inverted electronic gearbox is realized.
See also Functional Description: "Synchronization Modes"
Structure
Bit Designation/function Comment
Function Torque/force limit value that acts on the sum of all torque/force command val‐
ues:
● Command values from the acceleration feedforward controls (S-0-0348,
P-0-1126)
92/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
1 Reserved In FW
Error class: F4, F6 and F7 18V30 and
1: No error above, and in
FW 20V12 and
0: Error above
See also Use
2 Reserved In FW
Error class: F8 (fatal errors) 18V30 and
1: No error above, and in
FW 20V12 and
0: Error above
See also Use
7 Locked by hardware With Sercos III,
0: The axis has not been locked by hardware inputs or the bit is map‐
safety inputs. ped to bit 7 of
S-0-0135
1: The axis has been locked due to a hardware input (e.g.,
E-Stop), an error on the module bus, STO or SMO selec‐
tion SMST_STO/SMES. Drive enable cannot be set.
Bit 2,1: The bits 1 and 2 show whether or not errors of the error classes F4
(interface errors) to F8 (fatal errors) had been signaled since the last time the
command "S-0-0099, C05 Reset class 1 diagnostics" was executed. Depend‐
ing on the error class that is signaled, the drive carries out different error re‐
actions (P-0-0119, Best possible deceleration).
In many installations (e.g., Gantry axes) it is necessary that all axes be equal‐
ly decelerated in the case of error. Thus, all axes have to be decelerated with
the smallest possible delay. The bits 2 and 1 are updated in the position con‐
troller clock and can be assigned to the digital outputs. This enables other ax‐
es in the group to evaluate the signals in order to initiate a specific decelera‐
tion (E-Stop, quick stop with probe detection, drive enable signal switched off
by an MLD function, etc.). It is recommended to use the fast probe inputs
(see Project Planning Manual) as digital inputs.
Executing the command „S-0-0099, C05, Reset class 1 diagnostics“ sets the
bits to 1 again.
Product-specific parameters
Function The "actual position value of motor" displays the current position of the motor
encoder. After the drive has been switched on, the actual position value is ini‐
tialized when the command "S-0-0422, C0200 parameterization level proce‐
dure command" is running, i.e. it is set to the initial value "0".
See also Functional Description "Complex actuators"
Use The actual position value is only used to control the motor and is independent
of the axis mechanics. Independent of the position scaling that has been set,
it is fixed to a scaling of 360,0000° and always limited to the modulo value of
360°.
P-0-0111 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: P-0-4014 Extr. val. ch.: -- Decim. pl.: P-0-4014
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter displays the motor velocity irrespective of scaling and velocity
mix factor
Product-specific parameters
Function This parameter serves to limit the motor velocity. The load gear and the feed
constant are not taken into account. The parameter is not affected by the
scaling of the velocity data. The parameter has the same effect as "S-0-0113,
Maximum motor speed", however, its value can be parameterized for all cus‐
tomer motor types.
Function This parameter can be used to configure the undervoltage threshold for the
DC bus voltage. The active undervoltage threshold results from the operation
mode of the converter and the value in P-0-0114.
Active undervoltage threshold
Inverter mode Undervoltage threshold of the converter2) Undervoltage threshold of the converter2)
Converter mode with
P-0-0114 P-0-0114
energy store
Product-specific parameters
Function Using this parameter, it is possible to read the drive state (device control), in‐
dependent of the master communication that is used.
See also Functional Description "Operation modes"
See also Functional Description "Master communication"
See also Functional Description "Drive Halt"
Structure The individual bits have the following significance:
1 Ready signal
1: Drive ready (ready for power output)
2 Drive warning
1: Warning (class 2 diagnostics) is present
3 Status of ext. command value processing (primary op.
mode + secondary op. modes 1-7)
0: Drive ignores ext. command value input
1: Drive follows ext. command value input
4 Drive Halt acknowledgment
1: Drive Halt is active and axis is in standstill
5 Command change bit
0: No change in command state
1: Command state has changed
6 Status of int. command value processing (secondary op.
modes 8-15 of PLC)
0: Drive ignores int. command value input of PLC
1: Drive follows int. command value input of PLC
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 97/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
In the easy startup mode, "bit 6 = 0" and "bit 3 = 1" are also set,
since the drive follows the command value input!
None 0
Torque control No message
Velocity control n_feedback = n_command (S-0-0330)
Cycl. position control IN_POSITION (S-0-0336)
Drive-int. interpolation IN_TARGET POSITION (S-0-0437; bit 1)
Drive-contr. positioning IN_TARGET POSITION (S-0-0338 or S-0-0437; bit 2:
IZP)
Positioning block mode End position reached (P-0-4061; bit 4) S-0-0338 In_Tar‐
get Position && no sequential block
Position and velocity syn‐ In Synchronization (P-0-0089; bit 8)
chronization
Function This parameter shows the effective input of the drive control word. The value
written to this parameter is the respective drive control word of the active
master communication of easy startup mode or the MLD.
Analog interface, parallel interface: P-0-4028
Profibus, CANopen, DeviceNet and Interbus: P-0-4077 and P-0-4068
PROFINET, EtherNet IP: P-0-4077 and P-0-4068
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 99/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function This parameter allows activating an error reaction controlled by the control
unit. When error reaction controlled by the control unit is active, the control
unit (external control/NC or local MLD) still can input command values for the
drive for 30 s. This allows realizing an error reaction coordinated by the con‐
trol unit in the case of an error.
0 NC error reaction
0: Deactivated
1: Activated
1 MLD error reaction
0: Deactivated
1: Activated
Function Settings pertaining to error messages and error reactions are made in param‐
eter "P-0-0118" for drives that are interconnected through the DC bus and the
module bus (drive system). The handling of DC bus undervoltage is also de‐
termined.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 101/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
- Drive-contr. transition to
special mode standstill
SS1ES/SS1
Emergency stop Fastest possible decel‐ □□□0hex □□0□ hex Not possible Not possible
Velocity command value eration
reset
Emergency stop Deceleration preventing □□□4 hex □□4□ hex Not possible Not possible
Velocity command value damage to mechanical
reset with ramp and fil‐ system while maintain‐
ter ing emergency stop
properties
Quick stop Deceleration preventing □□□2 hex Not possible Not possible Not possible
Velocity command value damage to mechanical
reset with ramp and fil‐ system while maintain‐
ter ing quick stop properties
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 103/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
- Drive-contr. transition to
special mode standstill
SS1ES/SS1
With MPx-18VRS and For systematic return □□□3 hex Not possible Not possible Not possible
above, return motion motion in the case of
available in connection error
with expansion package
"SRV"
Emergency stop Deceleration of the axis Not possible Not possible □1□□ hex *2) □1□□ hex
using motor winding in the case of fatal er‐ possible if
rors where control is not 0□□□hex has
short-circuit*1)
possible been para‐
meterized
Torque disable For slave axes provided □□□1 hex □□1□ hex Torque disa‐ If 0□□□hex
they have been connec‐ ble even if has been
ted to the master axis in □1□□ hex has parameter‐
friction-locked form ized
been set
Controlled deceleration Deceleration of the axis Not possible Not possible Not possible 1□□□hex
in the case of fatal en‐
coder error, when con‐
trol is no longer possible
□□□■ Parameterizable best possible deceleration as error reaction (see table "Options for parameterization ..." column
hex 3).
0hex: Velocity command value reset (emergency stop)
● The controlled servo motor is decelerated taking parameter "P-0-0109" into account (vcmd = 0). Acceleration
is not limited.
104/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
2hex: Velocity command value reset with ramp and filter (quick stop)
In the case of an error, the closed-loop-controlled servo drive in velocity control, or the open-loop-controlled drive
in V/Hz (U/f) operation is decelerated with a command value ramp, determined by "S-0-0372" and the jerk limit
value "S-0-0349". If the value S-0-0327 = "0", the value in "S-0-0138" is effective. Torque/force limitation is de‐
rived from parameter "P-0-0109".
Note: With open-loop V/Hz (U/f) control, the maximum deceleration is given by the value entered in "P-0-0569".
3hex: Return motion with MPx-18VRS and above (The return motion is only available in connection with the ex‐
pansion package "SRV" - see Enabling functional packages)
The drive generates a position command value profile, in order to move by the desired travel distance, if an error
occurs. In the event of an error, a relative travel block is therefore activated, which is defined by the following
parameters:
P-0-0055, Return distance
P-0-0056, Return velocity
P-0-0057, Return acceleration
P-0-0058, Return jerk
Note: No return motion is triggered when drive enable is switched off by the control.
4hex: Velocity command value reset with ramp and filter (emergency stop)
In the case of an error, the closed-loop-controlled servo drive in velocity control, or the open-loop-controlled drive
in V/Hz (U/f) operation is decelerated with a command value ramp, determined by "S-0-0429, Emergency halt
deceleration" and "S-0-0349, Bipolar jerk limit". If the value "S-0-0429" = "0", the value in "S-0-0138, Bipolar ac‐
celeration limit value" is effective. Torque/force limitation is derived from parameter "P-0-0109".
Note: With open-loop V/Hz (U/f) control, the maximum deceleration is given by the value entered in "P-0-0569,
Maximum stator frequency slope".
□□■□ Parameterizable best possible deceleration as error reaction to F6 and F7 error messages
hex 0hex: Velocity command value reset (emergency stop)
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 105/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
4hex: Velocity command value reset with ramp and filter (emergency stop)
In the case of an error, the closed-loop-controlled servo drive in velocity control, or the open-loop-controlled drive
in V/Hz (U/f) operation is decelerated with a command value ramp, determined by "S-0-0429" and the jerk limit
value "S-0-0349". If the value "S-0-0429" = "0", the value in "S-0-0138" is effective. Torque/force limitation is de‐
rived from parameter "P-0-0109".
Note: With open-loop V/Hz (U/f) control, the maximum deceleration is given by the value entered in "P-0-0569,
Maximum stator frequency slope".
Exception: In the case of fatal warnings E8029, E8030, E8042, E8043, E8044 and quick stop with probe detec‐
tion (AR), the drive is decelerated with the ramp "S-0-0138, Bipolar acceleration limit value" if P-0-0119 □□■□ =
4hex has been parameterized.
If the parameterization is P-0-0119 □□■□ ≠ 4hex, the drive reacts by resetting the velocity command value (vcmd
= 0) without taking any acceleration limitation into account. The available torque is determined by parameter
"P-0-0109, Torque/force peak limit".
106/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Tab. 4-52: Setting the way the drive is decelerated with the above criteria
Use
Torque/
Acceleration limit values Jerk limit values
Deceleration type force limit
P-0-0109 S-0-0138 S-0-0429 S-0-0372 P-0-0057 S-0-0349 P-0-0058
Emergency stop
Velocity command val‐ ■ no acceleration limitation active no jerk limitation active
ue reset
Emergency stop
Velocity command val‐ ■ ■ ■ - ■1 -
ue reset with ramp and
filter
Quick stop
Velocity command val‐ ■ ■ - ■ - ■2 -
ue reset with ramp and
filter
Return motion with
MPx-18VRS and ■ - ■ - ■3)
above
Emergency stop
using motor winding no limitations active -
short-circuit
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 107/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Servo brake:
Friction torque of hold‐
ing brake
Torque
Main spindle brake: no acceleration limitation active no jerk limitation active
disable
Not defined
Without motor brake:
Not defined
max. torque corre‐
Controlled deceleration sponds to approx. 80% - ■4 - no jerk limitation active
of P-0-0109
Function In the "easy startup" mode, this parameter is used to control the drive.
It is not necessary to configure the bits 14 and 13, they are set ini‐
tially.
Bit 12 is set automatically when the command "easy startup"
mode is started. If bit 12 is cleared during the "easy startup"
mode, the operation modes 0-8 can be addressed.
Product-specific parameters
Function Between motor encoder and encoder, a mechanical gear may be installed in
special cases.
The gear ratio is defined as follows:
Product-specific parameters
Function Between motor encoder and encoder, a mechanical gear may be installed in
special cases.
The gear ratio is defined as follows:
Product-specific parameters
Function This parameter is only active if "Feed constant 2" is activated in parameter
"P-0-0185, Encoder 2 control word". The value of this parameter is the length
of the linear distance that is run per revolution of a rotating transducer (e.g.
measuring wheel).
Function Between load and encoder 2, a mechanical gear may be installed in.
The gear ratio is defined as follows:
Product-specific parameters
Function Between load and measuring encoder, a mechanical gear may be installed.
The gear ratio is defined as follows:
Product-specific parameters
Function Between load and measuring encoder, a mechanical gear may be installed.
The gear ratio is defined as follows:
Function The internal position resolution is displayed in this parameter. The position
resolution refers to one revolution of the actuator shaft (increments/revolu‐
tion), for rotary actuators.
For linear actuators the resolution is nanometers (nm).
Example:
P-0-0129 = 1048576
The resulting internal position resolution is:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 113/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function In this parameter, one of the signals made available in parameter "P-0-0130"
is selected.
It is only allowed to enter signals from the list (P-0-0130), otherwise the drive
reacts with an error message. When the position switch is not used, it makes
sense to switch it off by selecting "S-0-0000" in order to avoid unnecessary
calculating time of the axis processor.
114/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
off threshold, a lead time and the result, the cam status. In this parameter,
the 8 lead times are to be entered.
By setting a lead time, the delay of an external switch element that is control‐
led by a position switch bit can be compensated. To do this, a theoretical cor‐
rection value for the respective switch-on and switch-off thresholds are calcu‐
lated from the programmed lead time and the current drive velocity. The posi‐
tion switch bit switches by the lead time before reaching the corresponding
threshold.
When using a lead time, the velocity of the drive in the (time)
range between theoretical and actual switch-on and switch-off
thresholds should be constant.
Product-specific parameters
Function The parameter "P-0-0136, Oscilloscope: Manual trigger signal" can be used
as alternatively external trigger signal. Especially, if the parameter "P-0-0036,
Oscilloscope: External trigger signal" is configured as real-time control bit in a
several-device-measuring .
See also Parameter Description "P-0-0036, Oscilloscope: External trigger
signal"
See also Functional Description: "Oscilloscope Function".
Structure
Bit Designation/function Comment
Function This parameter displays the voltage value output through the analog output 1
of the drive controller.
See also Functional Description "Analog Outputs"
P-0-0139 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: V Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter displays the voltage value output through the analog output 2
of the drive controller.
See also Functional Description "Analog Outputs"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 117/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Parameter "P-0-0141" is used to check the thermal load of the amplifier. 0%
corresponds to a chip overtemperature of 0 K; 100% corresponds to the max‐
imum chip overtemperature. If the drive is designed properly, the thermal
load should not exceed 80% for the specified machining cycles.
See also Functional Description "Current Limitation Controller"
Use The typical duration for heating a control unit power output stage to final tem‐
perature is approx. 10 mins. The control unit load can be preset in order to
check the thermal drive load during start-up without having to perform ma‐
chining cycles within this period. This can be set to any value by writing pa‐
rameter "P-0-0141". However, the input value must be greater than the load
currently displayed.
Function This parameter contains the value of the acceleration or deceleration with
which the synchronous velocity is reached during dynamic synchronization
(velocity adjustment).
It is used in the synchronization modes and in the operation mode "position
control drive-controlled".
See also Functional Description "Synchronization Modes"
118/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
See also Functional Description "Position Control With Cyclic Command Val‐
ue Input"
P-0-0142 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0161 /
Unit: S-0-0160 Extr. val. ch.: + Decim. pl.:
S-0-0162
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This parameter contains the value of the positioning velocity with which, dur‐
ing dynamic synchronization, the distance to absolute synchronization is trav‐
eled (position adjustment).
It is used in the synchronization modes and in the operation mode "position
control drive-controlled".
See also Functional Description "Synchronization Modes"
See also Functional Description "Position Control With Cyclic Command Val‐
ue Input"
P-0-0143 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: -- Decim. pl.:
S-0-0046
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function A new value for "P-0-0093, Cam distance" will not become active before the
current table access angle (P-0-0227, Cam table, access angle) passes the
value entered in P-0-0144.
Product-specific parameters
Function The measured values of channel 3 of the oscilloscope function are stored in
chronological order in parameter "P-0-0145, Oscilloscope: list of measured
values 3". The oldest measured value is the first element of the list of meas‐
ured values.
The recorded signal is the one identified by means of the IDN entered in
"P-0-0147, Oscilloscope: signal selection 3".
Function The measured values of channel 4 of the oscilloscope function are stored in
chronological order in parameter "P-0-0146, Oscilloscope: list of measured
values 4". The oldest measured value is the first element of the list of meas‐
ured values.
The recorded signal is the one identified by means of the IDN entered in
"P-0-0148, Oscilloscope: signal selection 4".
Product-specific parameters
Function The IDN entered in "P-0-0147" defines the signal that is to be recorded by
channel 3.
Only such IDNs are allowed that are contained in the list "P-0-0149, Oscillo‐
scope: Signal selection list".
After recording has been completed, the recorded measured values are con‐
tained in parameter "P-0-0145, Oscilloscope: List of measured values 3".
See also Functional Description "Oscilloscope Function"
P-0-0147 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The IDN entered in "P-0-0148" defines the signal that is to be recorded by
channel 4.
Only such IDNs are allowed that are contained in the list "P-0-0149, Oscillo‐
scope: Signal selection list".
After recording has been completed, the recorded measured values are con‐
tained in parameter "P-0-0146, Oscilloscope: List of measured values 4".
See also Functional Description "Oscilloscope Function"
P-0-0148 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter "P-0-0149, Oscilloscope: Signal selection list" contains all pa‐
rameters that are suitable as trigger signal (P-0-0026) or measuring signal
(P-0-0023, P-0-0024, P-0-0147, P-0-0148).
See also Functional Description "Oscilloscope Function"
P-0-0149 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function When the oscilloscope feature has been activated, the signal to be recorded
is continuously transmitted to a measured values memory. When the trigger
event occurs, the recording is stopped and the list of measured values can be
read. The oldest measured value is the first element of this list, the latest
measured value is the last element.
If the trigger event occurs before this measured value memory is completely
filled, a number of measured values at the beginning of the list is invalid. The
number of valid measured values before the trigger event is made available
in the "P-0-0150, Oscilloscope: number of valid measured values" parameter.
See also Functional Description "Oscilloscope Function"
P-0-0150 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function During the commands for "homing procedure", the distance between the
switch edge or blocking detection (positive stop) and the reference mark is
monitored when the home switch, travel range limit switch or positive stop
(axis-side additional device for homing) are evaluated and when the encoder
reference marks are evaluated. The optimum distance provided for reference
marks with equal distances is half the reference mark distance. The optimum
distance has to be entered in parameter "P-0-0153, Optimum distance home
switch-reference mark" in accordance with the table below.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 123/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
0 shortest distance
1 positive direction
2 negative direction
Product-specific parameters
Function After activation of a synchronous operation mode with outer position control,
the drive automatically carries out dynamic synchronization. In this case, the
drive generates additive position command values until absolute or relative
synchronization has been reached.
See also functional description "Synchronization modes"
Structure
Bit Designation/function Comment
0 Processing of S-0-0048
0: "Standard" mode, trapezoidal velocity profile
1: "Register control" mode, P-0-0060, Filter time constant
active
1 Synchronization
0: Absolute synchronization
1: Relative synchronization
3/2 Synchronization range
00: Modulo range of slave axis (load revolution)
01: Command value cycle of slave axis
10: Division of command value cycle
4 Generation of actual value cycle
0: Actual value cycle depending on P-0-0752
1: Actual value cycle = command value cycle
5 Synchronization in velocity synchronization
0: Only when operation mode activated
1: Always active
6 Single-step synchronization
0: Not active
1: Active
7 Single-step synchronization mode
0: Synchronous with master axis
1: Not synchronous with master axis
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
1: Optimization
Bit 1: Synchronization
Absolute synchronization (bit 1 = 0)
The position established in relation to the master axis is always absolute.
Relative synchronization (bit 1 = 1)
The only action is an adjustment of the velocity.
Bit 3/2: Synchronization range
Synchronization can be set in the modulo range, in the command value cycle
or in the division of the command value cycle. The distance to be traveled is
then limited to this range. The actual position value used for calculating the
distance has to be unequivocal in the range in which synchronization is to
take place. The actual value cycle therefore has to be defined in such a way
that it is a multiple of the synchronization range.
Bit 4: Generation of actual value cycle
If bit 4 = 0, the actual value cycle in which there is "P-0-0753, Position actual
value in actual value cycle" is generated depending on "P-0-0752, Load revo‐
lutions per actual value cycle slave axis".
If bit 4 = 1, the actual value cycle is set equal to the command value cycle
(P-0-0754).
Bit 5: Synchronization in velocity synchronization:
Synchronization on activation of operation mode (bit 5 = 0)
If velocity adjustment is to be carried out only once in velocity synchronization
mode, bit 5 has to be set to "0". All following velocity changes are carried out
with max. acceleration.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function Together with the parameter "P-0-0157, Master drive gear output revolu‐
tions", this parameter determines the master drive gear.
See also Functional Description "Synchronization Modes"
Use The resulting "P-0-0775, Resulting master axis position" is multiplied with the
electronic gear ratio before further processing and then limited to the standar‐
dized range of 2P-0-0084. The gear ratio results from the division of the value of
"P-0-0157" by the value of "P-0-0156".
P-0-0156 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Together with the parameter "P-0-0156, Master drive gear input revolutions",
this parameter determines the master drive gear.
See also Functional Description "Synchronization Modes"
Use The resulting "P-0-0775, Resulting master axis position" is multiplied with the
electronic gear ratio before further processing and then limited to the standar‐
dized range of 2^P-0-0084. The gear ratio results from the division of the val‐
ue of P-0-0157 by the value of P-0-0156.
P-0-0157 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function In the "cam" mode, the parameter "P-0-0061, Angle offset begin of table" has
an influence on the table access angle.
Use If this angle offset is to be changed by a large range, it is necessary, with a
gradient in the active table, to make a slow approach to the new value, be‐
128/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
cause every change implies a jump in position command value. A new value
for parameter P-0-0061 doesn't take immediate effect. Starting with the cur‐
rent value, a ramp-like approximation of the new value is carried out. The ap‐
proximation is carried out along the shortest possible path. The gradient of
the ramp is set in parameter "P-0-0158, Angle offset change rate".
If the value "0" is preset for parameter P-0-0158, the angle offset is carried
out immediately in one step.
P-0-0158 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: rpm Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Synchronous operation mode with outer position control loop (phase synchro‐
nization, cam, MotionProfile)
With linear absolute scaling, the slave axis moves by the feed travel, per out‐
put revolution of the master drive gear (including fine adjustment), parameter‐
ized in "P-0-0159". This means that if "P-0-0776, Effective master axis posi‐
tion" changes by 2 P-0-0084 increments, the slave axis moves a distance corre‐
sponding to "P-0-0159, Slave drive feed travel".
Observe the following restrictions:
● In the "cam" and "MotionProfile" modes, "P-0-0159" only takes effect in
the linear gear reduction component.
● In the case of modulo scaling, the parameter "S-0-0103, Modulo value"
assumes the task of parameter "P-0-0159"; in the case of linear scaling,
for the synchronous operation modes with outer position control loop.
See also Functional Description "Operation Modes for Synchronization"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 129/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter defines the periodic time of the sine function, which is effec‐
tive when the inertia is determined in the "automatic setting of axis control".
Use When the inertia is determined in the "automatic setting of axis control", the
drive travels a sine profile in velocity control mode. The parameter can be
used to specify the periodic time of the sine function. A short periodic time re‐
sults in high acceleration values and a long periodic time in low ones. This
does not have any effect on the velocity amplitude and offset of the sine func‐
tion.
Product-specific parameters
Function Parameter "P-0-0163" allows the user to manipulate the control loop dynam‐
ics achieved by the automatic controller setting.
Function In order to take application-related control strategies into account for auto‐
matic control loop setting, a selection list is made available to the operator
from which he can select the desired application. This allows, for example,
completely switching off the I-component, if required, etc.
See also Functional Description "Automatic Setting of Axis Control"
Structure The data below are referring to the speed loop.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function When "P-0-0162, C1800 Command Drive optimization / command value box"
is started, the drive becomes detached from the master-sided command val‐
ue control and generates the required command value characteristic itself.
The drive can execute different functions depending on the settings in param‐
eter "P-0-0165":
● Automatic setting of axis control
– Calculation and optimization of the velocity and position control
loop parameters
– Determination of the load inertia and calculation of the acceleration
feedforward control
– Calculation of the maximum acceleration
● Generation of a command value characteristic defined in velocity or po‐
sition control mode, e.g., for manual control loop optimization (drive-in‐
ternal command value box).
● Automatic determination of the cogging torque compensation tables by
drive-internal generation of the required command value characteristic,
by means of a sufficient number of measuring cycles.
The conditions for the command value that can be generated in the drive are
determined.
See also functional description "Drive-internal command value box"
See also functional description "Cogging torque compensation"
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
1: Active
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
1: Inactive
13 Direction of motion (with motion always in one direction) Only up to
0: Left MPx-17VRS
1: Right
14 Motion As of
0: Oscillating motion (reversing drive) MPx-18VRS:
Only command
1: Motion always in one direction (stepper drive) value box
15 Determining travel range
0: Input of limits
1: Input of travel distance
Tab. 4-60: Parameters selectable for drive optimization / command value box
Use The three available functions cannot be used simultaneously, even if they
can be selected simultaneously with the corresponding bits.
The following priorities apply:
1. Recording of cogging torque compensation table (highest priority)
2. Drive-internal command value box (medium priority)
3. Automatic setting of axis control (lowest priority)
Automatic setting of axis control
To achieve "automatic setting of axis control", bit 15 of "P-0-0165"
serves to define whether a relative travel distance or the absolute limits
will be used. Up to MPx-17VRS, bits 13 and 14 can be used to define
the motion type and the motion direction. As of MPx-18VRS, this infor‐
mation is obtained from the configuration of the drive (S-0-0076 and
S-0-0393).
The values for end positions or travel distance are set in other parame‐
ters:
● P-0-0166, Drive optimization, end position negative
● P-0-0167, Drive optimization, end position positive
● P-0-0169, Drive optimization, travel distance
Product-specific parameters
Bits 15/14/13
Bits 15, 14 and 13 are not taken into account when the cogging torque com‐
pensation table is recorded. The motion direction and motion type are ob‐
tained from the configuration of the drive (S-0-0076 and S-0-0393). The travel
distance is internally defined in relative measured value recording mode. As
of MPx-18VRS, the travel distance can be directly specified using relative
measured value recording via parameters "P-0-1145" and "P-0-1146".
Drive-internal command value box
The only general requirement that can be set for the "drive-internal command
value box" in "P-0-0165" is the motion type requirements (reversing duty or
stepper mode). Further general requirements, such as end positions, effec‐
tive acceleration, maximum travel velocity and dwell time between the motion
phases, are directly set in other parameters:
● P-0-0166, Drive optimization, end position negative
● P-0-0167, Drive optimization, end position positive
● P-0-0169, Drive optimization, travel distance
● P-0-0170, Drive optimization, acceleration
● P-0-0171, Drive optimization, velocity
● P-0-0172, Drive optimization, dwell time
Bit 9/8: These two bits are used to define the operating mode of the "drive-
internal command value box". The drive can work in velocity or position con‐
trol mode. Velocity control takes place via encoder 1/motor encoder, position
control via the position encoder selected in "S-0-0520, Control word of axis
controller".
Bit 12: Defines whether the motion profile is run through once or periodically.
Bit 14: Defines the kind of motion of the axis for "drive-internal command val‐
ue box" mode:
● With "oscillating motion", the position limits are entered in "P-0-0166,
Drive optimization, end position negative" and in "P-0-0167, Drive opti‐
mization, end position positive".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 135/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used to enter the negative end position of the travel range
within which the axis may move if the drive-internal command value is speci‐
fied by "P-0-0162, C1800 Command Drive optimization".
"P-0-0166" is used when the following selection was made in the control word
for C1800 (P-0-0165, Drive optimization, control word):
● Automatic setting of axis control, or
● Drive-internal command value box
See also Functional Description "Automatic Setting of Axis Control"
See also Functional Description "Drive-Internal Command Value Box"
"Automatic setting of axis control" requires value input only if "input of posi‐
tion limits" has been selected in parameter "P-0-0165, Drive optimization,
control word" bit 15. Up to MPx-17VRS, the parameter is overwritten by the
internally determined absolute position limit when the travel distance is de‐
fined after command C1800 has been started.
When the drive-internal command value box is used, the parameter defines
the negative limit of the oscillating motion.
Product-specific parameters
Function This parameter is used to enter the positive end position of the travel range
within which the axis may move if the drive-internal command value is speci‐
fied by "P-0-0162, C1800 Command Drive optimization".
"P-0-0167" is used when the following selection was made in the control word
for C1800 (P-0-0165, Drive optimization, control word):
● Automatic setting of axis control, or
● Drive-internal command value box
See also Functional Description "Automatic Setting of Axis Control"
See also Functional Description "Drive-Internal Command Value Box"
Use "Automatic setting of axis control" requires value input only if "input of posi‐
tion limits" has been selected in bit 15 of parameter "P-0-0165, Drive optimi‐
zation, control word". Up to MPx-17VRS, the parameter is overwritten by the
internally determined absolute position limit when the travel distance is de‐
fined after command C1800 has been started.
When the drive-internal command value box is used, the parameter defines
the positive limit of the oscillating motion.
Function This parameter is used to enter the maximum acceleration determined in the
"automatic setting of axis control" (started by C1800) when "calculation of the
maximum acceleration" was activated in "P-0-0165, Drive optimization, con‐
trol word".
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter may be active if the following selection was made in the con‐
trol word for C1800 (P-0-0165, Drive optimization, control word):
● Automatic setting of axis control, or
● Drive-internal command value box
See also Functional Description "Automatic Setting of Axis Control"
See also Functional Description "Drive-Internal Command Value Box"
Use "Use with automatic setting of axis control"
The value of "P-0-0169" is relevant only if travel distance input has been se‐
lected during determination of the travel range in "P-0-0165".
Up to MPx-17VRS:
● If the motion type selected in P-0-0165 is "oscillating motion", the al‐
lowed travel corresponds to the value of "P-0-0169" arranged symmetri‐
cally around the starting position both in positive and negative travel di‐
rection.
Note: When "P-0-0162, C1800 Command Drive optimization" is started,
the travel range provided for drive-internal command value input is
checked. For this reason, the values for "P-0-0166" and "P-0-0167" are
determined and, if necessary, checked for the allowed travel range limits
of the axis.
● If, furthermore, the motion type selected in "P-0-0165" is "stepper
mode", the axis travels stepwise for the value specified in "P-0-0169"
into the motion direction selected in "P-0-0165".
As of MPx-18VRS:
● The motion type and motion direction are derived from the configuration
of the drive (S-0-0076 and S-0-0393).
● If the motion direction can be selected as desired, the sign of the travel
distance is evaluated.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is active when the following preselection was made in the
control word for C1800 ("P-0-0165, Drive optimization, control word"):
● automatic control loop setting or
● operating mode "drive-internal command value box"
In this parameter, enter the maximum acceleration with which the axis is
moved after the start by "P-0-0162, C1800 Command Drive optimization /
command value box" by a drive-internal position command value (only active
in position control).
Product-specific parameters
Function This parameter is active if the following preselection was made for C1800 in
the control word (P-0-0165, Drive optimization, control word):
● Automatic control loop setting or
● Operating mode "drive-internal command value box"
In this parameter enter the maximum velocity at which the axis is moved by
the drive-internal command value after starting by "P-0-0162, C1800 Com‐
mand Drive optimization/command value box".
See also Functional Description "Automatic setting of axis control"
See also Functional Description "Drive-internal command value box"
P-0-0171 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: + Decim. pl.:
S-0-0046
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function In this parameter, enter the dwell time during which the axis remains in stand‐
still at the end positions or at the end of the travel distance, after "P-0-0162,
C1800 Command Drive optimization / command value box" was started.
This parameter is active when the preselection operating mode "drive-internal
command value box" was made in the control word for C1800 ("P-0-0165,
Drive optimization, control word").
P-0-0172 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: s Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Using this parameter, the following error cases can be configured as a warn‐
ing:
140/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used to define whether list parameter "P-0-0175, List of
configurable device-specific monitoring functions" may be changed.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 141/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The diagnostic message and therefore the reaction to specific error events
which may result in a destruction of the controller/motor if operation is contin‐
ued (e.g., F2018 Device overtemperature shutdown) can be configured by
the user if this is enabled for a device by the manufacturer using the parame‐
ter "P-0-0174, Enabling of device-specific error reaction". The error class of
these error events is a device-specific property and can vary depending on
the device.
The parameter has the following properties:
● It contains list elements with the complete diagnostic message in the
form of parameter "S-0-0390, Diagnostic message number" (error/warn‐
ing class and number, e.g., "0xF2018", "0xE2yyy").
● When default values are loaded, it is reset to the values on delivery if
– it is not protected by a password,
– it was enabled via "P-0-0174"
– the parameter is invalid.
● On transition from PM to OM, it is automatically set to the default value if
it is was not enabled via parameter "P-0-0174" or if parameter
"P-0-0174" is invalid!
● On transition from PM to OM, it is automatically set to the default value if
the device used is not IndraDrive Cs, IndraDrive Mi or Indradrive HCT/
HCQ.
● It contains no other error events than those that can be changed.
● The list indexing of the error events remains compatible even if the ver‐
sion is upgraded.
Product-specific parameters
Function With an absolute encoder 1, current encoder data are saved when the drive
is switched off. The saved data are displayed in this parameter. They are
used for repeated position initialization and monitoring when the drive is
switched on the next time.
The saved data are displayed in a list and cannot be interpreted by custom‐
ers. They are used by service and development personnel for diagnostic pur‐
pose.
See also functional description "Monitoring the measuring systems"
P-0-0177 - Attributes Function: Par Editable: PM Data length: 4Byte var.
Memory: RETAIN_KUNDE Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function With an absolute encoder 2, current encoder data are saved when the drive
is switched off. The saved data are displayed in this parameter. They are
used for repeated position initialization and monitoring when the drive is
switched on the next time.
The saved data are displayed in a list and cannot be interpreted by custom‐
ers. They are used by service and development personnel for diagnostic pur‐
pose.
See also functional description "Monitoring the measuring systems"
P-0-0178 - Attributes Function: Par Editable: PM Data length: 4Byte var.
Memory: RETAIN_KUNDE Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function With an absolute measuring encoder, current encoder data are saved when
the drive is switched off. The saved data are displayed in this parameter.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 143/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
They are used for repeated position initialization and monitoring when the
drive is switched on the next time.
The saved data are displayed in a list and cannot be interpreted by custom‐
ers. They are used by service and development personnel for diagnostic pur‐
pose.
See also functional description "Measuring encoder"
P-0-0179 - Attributes Function: Par Editable: PM Data length: 4Byte var.
Memory: RETAIN_KUNDE Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Function After a password has been entered, QSK motors can be operated on
IndraDrive Cs and IndraDrive C/M.
The display in "P-0-0184" is defined as follows:
● 0x00001: The entered password is valid.
● 0x00000: The entered password is invalid.
Product-specific parameters
0 Feed constant 2
0: Not activated
1: Activated
2/1 Use of encoder 2 (position control)
00: Position control encoder
01: Spindle encoder
10: Measuring wheel encoder
11: (Not allowed!)
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
● Bit 5: The position data reference can only be maintained in case the
measuring wheel mode is activated/deactivated, if it is ensured that the
mechanical reference of the position feedback value is not shifted from
the measuring wheel encoder to the motor encoder or the material to be
measured.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 149/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function For jerk-free motion in "position control" mode, the position command values
transmitted via the command value channel are fine interpolated.
Parameter "P-0-0187" can be used to select the following types of interpola‐
tion:
● Linear fine interpolation P-0-0187 = 0
● Cubic approximation P-0-0187 = 1
● Cubic fine interpolation according to contour P-0-0187 = 2
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
1 to 8 - steps of one (1, 2, 500 μs, 1000 μs, 1500 μs, 2000 μs, 2500 μs, 3000 μs,
3, 4, 5, 6, 7, 8) 3500 μs, 4000 μs
10 to 16 - steps of two (10,
5000 μs, 6000 μs, 7000 μs, 8000 μs
12, 14, 16)
20 to 32 - steps of four (20,
10000 μs, 12000 μs, 14000 μs, 16000 μs,
24, 28, 32)
Function This parameter shows the IDNs for which storage jobs were generated. Here,
it must be noted that storage jobs are only generated if "S-0-0269, Storage
152/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter displays the operating time of the drive's control section. By
means of this parameter it is possible to display the total duty cycle of the
control electronics since the delivery of the device. If a class 1 diagnostics
error occurs, the content of this parameter at this point of time is stored at the
first place in the "P-0-0193, Error memory operating hours of control section"
parameter.
Function This parameter displays the operating hours of the power section since the
delivery of the device. These operating hours are the time during which the
drive has been operated with drive enable switched on.
Product-specific parameters
Function When the drive diagnoses a class 1 diagnostics error, a bit is set in parame‐
ter "S-0-0011, Class 1 diagnostics". Bit 13 for "Error in class 1 diagnostics" is
then set in the drive status word.
See also Functional Description "Error Memory (Power Section and Control
Section)"
Use In order to allow a more detailed diagnosis
● the diagnostic number appears on the display and is stored in parame‐
ter "S-0-0390, Diagnostic message number",
● the plain text of diagnosis is stored in parameter "S-0-0095, Diagnostic
message",
● the respective error number is stored in parameter "P-0-0009, Error
number".
The diagnostic number that belongs to the error and is displayed in
"S-0-0390, Diagnostic message number" is also stored in the "P-0-0192, Di‐
agnostic numbers of error memory" parameter. In the form of a stack, this pa‐
rameter contains, in chronological order, the diagnostic numbers of the last
50 errors occurred. The last error occurred is entered at the top.
The count of the "P-0-0190, Operating hours control section" parameter at
the time the error is detected is stored in the "P-0-0193, Error memory ope‐
rating hours of control section" parameter in the same order.
Function When the drive diagnoses a class 1 diagnostics error, a bit is set in parame‐
ter "S-0-0011, Class 1 diagnostics". Bit 13 for "Error in class 1 diagnostics" is
then set in the drive status word.
See also Functional Description "Error Memory (Power Section and Control
Section)"
Use In order to allow a more detailed diagnosis
154/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function When the drive diagnoses a class 1 diagnostics error, a bit is set in parame‐
ter "S-0-0011, Class 1 diagnostics". Bit 13 for "Error in class 1 diagnostics" is
then set in parameter "S-0-0135, Drive status word". If the error only con‐
cerns the power section, it is additionally stored in parameter "P-0-0194".
See also functional description "Error memory (power section and control
section)"
Use In case of errors due to the power section, a respective code is stored in
"P-0-0194" and saved on the power section. This way, the error remains
clearly assigned to the power section even in case of service (e.g. control
section replacement).
In this parameter, the last 12 errors that occurred are coded and saved in
consecutive order including the corresponding count of the operating hours
counter:
● Bit 0… 25: Operating hours counter value of the power section in sec‐
onds at the time the error occurred
● Bit 26… 31: Code number of the error
The last error that occurred is entered at the top of the error memory list
(P-0-0194). The parameter is stored on the power section.
Product-specific parameters
3 F8060
4 F8069
5 F2022
6 F2018
7 F2040
8 F2836
9 F2816
10 F2821
11 F2820
12 F8838
Function In this list, the IDNs of those parameters are stored the values of which are
required for replacement of devices.
The parameter values of the IDNs listed in "P-0-0195":
● are only allowed to be loaded after a defective controller has been re‐
placed and
● had to be saved directly before the device was replaced!
Otherwise the current parameter values of target position, absolute encoder,
etc. are overwritten with old values which can cause incorrect drive behavior!
Product-specific parameters
Function The build date and build time of the drive firmware can be read from this pa‐
rameter as a text.
See also Functional Description "System Overview"
P-0-0196 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains the system time in Windows file time format
(elapsed time in 100ns increments since 1601-01-01).
This way, the system time is offered in a second format besides the format
according to IEC 61588 (parameter S-0-1305.0.1).
Structure Parameter "P-0-0197" is a 64-bit value with a structure in the form of a list
with two elements having a length of 4 bytes.
Element Content
Product-specific parameters
Function The state of the parameter "P-0-0197, System time" is stored in the parame‐
ter "P-0-0198" when the error is detected. It can be used in conjunction with
the parameters "P-0-0197" and "P-0-0199" to establish an axis-comprehen‐
sive time reference in the case of error.
See Functional Description "Handling, Diagnostic and Service Functions"
Structure This parameter is built in the form of a stack and contains the system meter
reading of the latest 50 errors in chronologically continuous order. First you
see the meter reading of the latest occurred error. The unit of the recorded
times is [102 ns].
Product-specific parameters
Therewith, via extracting the parameters from the old device and
bringing in the parameters to the replaced device, the error histo‐
ry can remain on the installation when the device must be
changed.
Function The lower limit value of the "expectation window" for probe 2 is set in this pa‐
rameter. The "expectation window" is limiting the position range of an axis or
shaft within which probe signal edges cause measured values to be detected.
The "expectation window" has to be activated in "P-0-0226, Probe, extended
control word".
Function The upper limit value of the "expectation window" for probe 2 is set in this pa‐
rameter. The "expectation window" is limiting the position range of an axis or
shaft within which probe signal edges cause measured values to be detected.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 159/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter displays the absolute value of the difference between
"S-0-0130, Probe value 1 positive edge" and "S-0-0131, Probe value 1 nega‐
tive edge". The value is recalculated whenever a new probe value 1 is detec‐
ted, whether positive or negative.
See also Functional Description "Probe Function"
Use When "P-0-0202" is determined, axes with finite travel range must be differ‐
entiated from axes with infinite travel range::
● Axes with finite travel range (e.g., linear axes, absolute position data for‐
mat)
Fig. 4-20: Calculating P-0-0202 for Axes With Finite Travel Range
● Axes with infinite travel range (e.g., rotary axes, position data in modulo
format). In this case, the difference between the probe values is limited
to half the modulo value of the measuring signal. Calculation of
"P-0-0202" depends on the absolute value of the probe value difference:
Fig. 4-21: Calculating P‑0‑0202 for Axes With Infinite Travel Range if |
S‑0‑0130 – S‑0‑0131 | <= (Modulo Value / 2)
Fig. 4-22: Calculating P‑0‑0202 for Axes With Infinite Travel Range if |
S‑0‑0130 – S‑0‑0131 | > (Modulo Value / 2)
P-0-0202 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 4
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter displays the absolute value of the difference between
"S-0-0132, Probe value 2 positive edge" and "S-0-0133, Probe value 2 nega‐
tive edge". The value is recalculated whenever a new probe value 2 is detec‐
ted, whether positive or negative.
See also Functional Description "Probe Function"
Use When "P-0-0203" is determined, axes with finite travel range must be differ‐
entiated from axes with infinite travel range::
● Axes with finite travel range (e.g., linear axes, absolute position data for‐
mat)
Fig. 4-23: Calculating P-0-0203 for Axes With Finite Travel Range
● Axes with infinite travel range (e.g., rotary axes, position data in modulo
format).
In this case, the difference between the probe values is limited to half
the modulo value of the measuring signal. Calculation of "P-0-0203" de‐
pends on the absolute value of the probe value difference:
Fig. 4-24: Calculating P‑0‑0203 for Axes With Infinite Travel Range if |
S‑0‑0132 – S‑0‑0133 | <= (Modulo Value / 2)
Fig. 4-25: Calculating P‑0‑0203 for Axes With Infinite Travel Range if |
S‑0‑0132 – S‑0‑0133 | > (Modulo Value / 2)
P-0-0203 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 4
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The lower limit value of the "expectation window" for probe 1 is set in this pa‐
rameter. The "expectation window" is limiting the position range of an axis or
shaft within which probe signal edges cause measured values to be detected.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 161/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The upper limit value of the "expectation window" for probe 1 is set in this pa‐
rameter. The "expectation window" is limiting the position range of an axis or
shaft within which probe signal edges cause measured values to be detected.
The "expectation window" has to be activated in "P-0-0226, Probe, extended
control word".
Function The value entered in this parameter is a threshold for the registered number
of marker failures.
The number of successive times the expectation window is passed through
without marker event is added and displayed in "P-0-0224, Probe 1, number
of marker failures". When the value in P-0-0224 has reached the value of
P-0-0206, this is signaled in the respective bit of "S-0-0179, Probe status".
162/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The value entered in this parameter is a threshold for the registered number
of marker failures.
See also Functional Description "Probe Function"
Use The number of successive times the expectation window is passed through
without marker event is added and displayed in "P-0-0225, Probe 2, number
of marker failures". When the value in P-0-0225 has reached the value of
P-0-0207, this is signaled in the respective bit of "S-0-0179, Probe status".
Function With this parameter, the value currently applied on "analog input 2" of option‐
al module "DA" is shown as an input voltage in Volt or as an input current in
mA depending on parameter "P-0-0255 Analog input; hardware configura‐
tion".
The parameter values are updated according to position controller clock.
Product-specific parameters
Function This parameter can be used to display the input voltage currently applied to
analog input 1 in volts. The parameter values are updated according to posi‐
tion controller clock.
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"
Use For example, the parameter content can be
● directly processed in the drive PLC,
● transferred cyclically to the control,
● or assigned to an internal drive parameter via assignment A, B or C.
Function With this parameter, the value currently applied on analog input 2 is shown
as an input voltage in Volt or as an input current in mA depending on param‐
eter "P-0-0255 Analog input; hardware configuration".
164/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This list parameter contains the ident numbers of the parameters, which can
be entered in the following parameters:
● P-0-0213, Analog input, assignment A, target parameter
● P-0-0236, Analog input, assignment B, target parameter
● P-0-0245, Analog input, assignment C, target parameter
These parameters are available for assigning an analog input value.
See also Functional Description of firmware "Analog Interface"
See also Functional Description of firmware "Analog Inputs"
P-0-0212 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The ident number of the target parameter for assignment A is entered in this
parameter.
The desired analog input for this assignment is configured via the parameter
"P-0-0218, Analog input, control parameter".
Actual scaling is achieved via "P-0-0214, Analog input, assignment A, scal‐
ing".
The scaling of the analog input for assignment A is carried out via this param‐
eter. The setting of the scaling for the value range is carried out per 10 V or
per 20 mA depending on the setting in "P-0-0255, Analog input; hardware
configuration", which determines whether the analog input is used as a volt‐
age or current input.
The unit, the decimal places and the data type are defined by the parameter
assigned in "P-0-0213, Analog input, assignment A, target parameter".
The desired analog input for this assignment is configured via the parameter
"P-0-0218, Analog input, control parameter".
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
P-0-0214 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: Grp. 1
Product-specific parameters
This parameter is used to make the reference definition of the analog input
for assignment A. As a result, an offset at the analog input can be compensa‐
ted if necessary.
The setting of the reference definition for 0 V or 0 mA takes place depending
on the setting in "P-0-0255, Analog input; hardware configuration", which de‐
termines whether the analog input is used as a voltage or current input.
The unit, the decimal places and the data type are defined by the parameter
assigned in "P-0-0213, Analog input, assignment A, target parameter".
The desired analog input for this assignment is configured via the parameter
"P-0-0218, Analog input, control parameter".
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
P-0-0215 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
The dead zone is a value range arranged symmetrically around the "0-sig‐
nal". This parameter can be used to define a value range for the dead zone
within which the assignment outputs the value 0.
The dead zone value is calculated as follows:
P-0-0216 x P-0-0214 / 10 [V] or
P-0-0216 x P-0-0214 / 20 [mA]
The unit for the value range is V or mA depending on the setting in
"P-0-0255, Analog input; hardware configuration", which determines whether
the analog input is used as a voltage or current input.
The assigned value range results from "P-0-0214, Analog input, assignment
A, scaling".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 167/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
The analog input 1 can be read in by the drive firmware via a digital low-pass
filter.
The time constant (Tinput) is specified and influenced by this parameter.
Limit frequency of the input filter:
Inputting Tinput = TA_position deactivates the filter (see also Performance data).
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
Use
Product-specific parameters
Structure
Product-specific parameters
Function This parameter is used to specify a defined command value for determining
the values of the following parameters:
● P-0-0214, Analog input, assignment A, scaling
● P-0-0237, Analog input, assignment B, scaling
● P-0-0246, Analog input, assignment C, scaling
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"
Use The following parameters can be used to carry out a zero point and gain ad‐
justment for the selected analog input (P-0-0218).
● P-0-0218, Analog input, control parameter
● P-0-0219, Analog input, maximum value for adjustment
● P-0-0220, C2800 Analog input adjustment command
The command C2800 determines and saves the following values automati‐
cally.
Assignment A (P-0-0218, Bit 2/1= 00)
● P-0-0214, Analog input, assignment A, scaling
● P-0-0215, Analog input, assignment A, signal value at 0
Assignment B (P-0-0218, Bit 2/1 = 01):
● P-0-0237, Analog input, assignment B, scaling
● P-0-0238, Analog input, assignment B, signal value at 0
or assignment C (P-0-0218, Bit 2/1= 10):
● P-0-0246, Analog input, assignment C, scaling
● P-0-0247, Analog input, assignment C, signal value at 0
P-0-0219 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
170/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function In this parameter the signals of the travel range limit switch inputs are dis‐
played. It is used to diagnose the travel range limit switch inputs.
See also Functional Description "Position Limitation/Travel Range Limit
Switch"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 171/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
When the travel range limit switches are activated, the respective
digital inputs at the control section must already have been as‐
signed to the respective bits of P-0-0222 via P-0-0300 and
P-0-0301. This was realized as the default setting!
Function The state of the E-stop input is mapped in this parameter. The parameter can
be used to check the "E-stop input" or for visualization by means of a com‐
missioning program.
See also Functional Description "E-Stop Function"
Structure
Bit Designation/function Comment
Product-specific parameters
Product-specific parameters
Function The probe function specified according to Sercos is configured and activated
via "S-0-0169, Probe control parameter". In "P-0-0226" it is possible to con‐
figure extended, manufacturer-specific functionalities of the probe function,
such as:
● Time measurement
● Expectation window and marker failure monitoring
● Triggering 2 probe evaluations through one probe input only
● Via this parameter, it is also possible to activate the probe-triggered
quick stop of an axis
See also Functional Description "Probe function"
See also Functional Description "Quick stop via probe input"
Structure
Bit Designation/function Comment
Product-specific parameters
Product-specific parameters
● Bit 10: Configuring signal edge for triggering probe 1 quick stop
MPx-18V10 and above: Bit 10 is used to specify, if bit 3 has been set, at
which signal edge at probe 1 input the quick stop at probe 1 is to be trig‐
gered. Prerequisite: The selected signal edge has been configured in
"S-0-0169, Probe control word".
● Bit 11: Activating switch-on level monitoring for probe 1 with single
measurement configured for a signal edge
MPx-18V10 and above: Setting bit 11 activates state monitoring of the
probe 1 input (S-0-0401, Probe 1) at activation of probe 1 enable
(S-0-0405, Probe 1 enable).
● Requirements for state monitoring:
1. "S-0-0169, Probe control parameter" has been configured for
probe 1 single measurement,
2. "S-0-0169, Probe control parameter" has only been configured for
evaluating one edge (positive or negative) of probe 1.
If the requirements have been complied with, the following aspects ap‐
ply:
– Positive signal edge evaluation configured: With activation of probe
1 enable, a one-time check for "S-0-0401, Probe 1" = 1 (24V) is
carried out. If the state of "S-0-0401" is 1 (24V), the error "F2131
Incorrect switching state of probe 1 input signal" is generated.
– Negative signal edge evaluation configured: With activation of
probe 1 enable, a one-time check for "S-0-0401, Probe 1" = 0 (0V
wire break monitoring) is carried out. If the state of "S-0-0401" is 0
(0V), the error "F2131 Incorrect switching state of probe 1 input
signal" is generated.
P-0-0226 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function With this parameter it is possible in the "cam" and "MotionProfile" modes to
have the calculated value of the access angle for the current cam table dis‐
played.
Use The "cam table access angle" is generated from "P-0-0776, Effective master
axis position" minus "P-0-0061, Angle offset begin of table" plus component
of "P-0-0085, Dynamic angle offset".
P-0-0227 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function With this parameter, the value currently applied on analog input 3 is shown
as an input voltage in Volt or as an input current in mA depending on param‐
eter "P-0-0255 Analog input; hardware configuration".
The parameter values are updated according to position controller clock.
Function With this parameter, the value currently applied on "analog input 1" of option‐
al module "DA" is shown as an input voltage in Volt or as an input current in
mA depending on parameter "P-0-0255 Analog input; hardware configura‐
tion".
The parameter values are updated according to position controller clock.
Product-specific parameters
The analog input 2 can be read in by the drive firmware via a digital low-pass
filter.
The time constant (Tinput) is specified and influenced by this parameter.
Limit frequency of the input filter:
Inputting a time constant < TA_position deactivates the filter (see also Perform‐
ance data).
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
Use
Product-specific parameters
The analog input 3 can be read in by the drive firmware via a digital low-pass
filter.
The time constant (Tinput) is specified by this parameter and influences the
limit frequency of the input filter as shown in the formula below.
Inputting a time constant < TA_position deactivates the filter (see also Perform‐
ance data).
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
Use
Function The analog input 1 of the optional module "DA" can be read in by the drive
firmware via a digital low-pass filter.
The time constant (Tinput) is specified by this parameter and influences the
limit frequency of the input filter as shown in the formula below.
Entering a time constant < TA_position deactivates the filter is (see also Perform‐
ance data).
Product-specific parameters
Function The analog input 2 of the optional module "DA" can be read in by the drive
firmware via a digital low-pass filter.
The time constant (Tinput) is specified by this parameter and influences the
limit frequency of the input filter as shown in the formula below.
Entering a time constant < TA_position deactivates the filter is (see also Perform‐
ance data).
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
Use
Function The ident number of the target parameter for assignment B is entered in this
parameter.
The desired analog input for this assignment is configured via the parameter
"P-0-0218, Analog input, control parameter".
Actual scaling is achieved via "P-0-0237, Analog input, assignment B, scal‐
ing".
Product-specific parameters
The scaling of the analog input for assignment B is carried out via this param‐
eter. The setting of the scaling for the value range is carried out per 10 V or
per 20 mA depending on the setting in "P-0-0255, Analog input; hardware
configuration", which determines whether the analog input is used as a volt‐
age or current input.
The unit, the decimal places and the data type are defined by the parameter
assigned in "P-0-0236, Analog input, assignment B, target parameter".
The desired analog input for this assignment is configured via the parameter
"P-0-0218, Analog input, control parameter".
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
P-0-0237 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
This parameter is used to make the reference definition of the analog input
for assignment B. As a result, an offset at the analog input can be compensa‐
ted if necessary.
The setting of the reference definition for 0 V or 0 mA takes place depending
on the setting in "P-0-0255, Analog input; hardware configuration", which de‐
termines whether the analog input is used as a voltage or current input.
The unit, the decimal places and the data type are defined by the parameter
assigned in "P-0-0236, Analog input, assignment B, target parameter".
The desired analog input for this assignment is configured via the parameter
"P-0-0218, Analog input, control parameter".
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 181/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
The dead zone is a value range arranged symmetrically around the "0-sig‐
nal". This parameter can be used to define a value range for the dead zone
within which the assignment outputs the value 0.
The dead zone value is calculated as follows:
P-0-0239 x P-0-0237 / 10 [V] or
P-0-0239 x P-0-0237 / 20 [mA]
The unit for the value range is V or mA depending on the setting in
"P-0-0255, Analog input; hardware configuration", which determines whether
the analog input is used as a voltage or current input.
The assigned value range results from "P-0-0237, Analog input, assignment
B, scaling".
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
P-0-0239 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: V Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
4.3.36 P-0-0241, Actual pos. smoothing time constant for hybrid pos. control
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Hardware --
Funct. package(s): CL
Device parameter: axis-specific
Function Where the hybrid position control (e.g., measuring wheel mode) is con‐
cerned, the entered time constant is used to filter the position feedback differ‐
ence between encoder 2 and encoder 1 via a 1st order low-pass filter.
Product-specific parameters
Function This parameter displays the current actual slip value between encoder 1
(S-0-0051) and encoder 2 (S-0-0053) at active slip monitoring. The value is
specified in percent.
Function This parameter saves the maximum actual slip value occurred between en‐
coder 1 (S-0-0051) and encoder 2 (S-0-053). The current actual slip value is
displayed in "P-0-0242" in percent.
Product-specific parameters
Function This parameter defines the monitoring threshold for the maximum allowed ac‐
tual slip value between encoder 1 (S-0-0051) and encoder 2 (S-0-0053). If
this value is exceeded, error message F2036 is generated.
Function The ident number of the target parameter for assignment C is entered in this
parameter.
The desired analog input for this assignment is configured via the parameter
"P-0-0218, Analog input, control parameter".
Actual scaling is achieved via "P-0-0246, Analog input, assignment C, scal‐
ing".
Product-specific parameters
The scaling of the analog input for assignment C is carried out via this param‐
eter. The setting of the scaling for the value range is carried out per 10 V or
per 20 mA depending on the setting in "P-0-0255, Analog input; hardware
configuration", which determines whether the analog input is used as a volt‐
age or current input.
The unit, the decimal places and the data type are defined by the parameter
assigned in "P-0-0245, Analog input, assignment C, target parameter".
The desired analog input for this assignment is configured via the parameter
"P-0-0218, Analog input, control parameter".
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
P-0-0246 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
This parameter is used to make the reference definition of the analog input
for assignment C. As a result, an offset at the analog input can be compensa‐
ted if necessary.
The setting of the reference definition for 0 V or 0 mA takes place depending
on the setting in "P-0-0255, Analog input; hardware configuration", which de‐
termines whether the analog input is used as a voltage or current input.
The unit, the decimal places and the data type are defined by the parameter
assigned in "P-0-0245, Analog input, assignment C, target parameter".
The desired analog input for this assignment is configured via the parameter
"P-0-0218, Analog input, control parameter".
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
P-0-0247 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 185/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
The dead zone is a value range arranged symmetrically around the "0-sig‐
nal". This parameter can be used to define a value range for the dead zone
within which the assignment outputs the value 0.
The dead zone value is calculated as follows:
P-0-0248 x P-0-0246 / 10 [V] or
P-0-0248 x P-0-0246 / 20 [mA]
The unit for the value range is V or mA depending on the setting in
"P-0-0255, Analog input; hardware configuration", which determines whether
the analog input is used as a voltage or current input.
The assigned value range results from "P-0-0246, Analog input, assignment
C, scaling".
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
P-0-0248 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: V Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function Parameter for entering the system identification for mechatronic systems.
The parameter is not used by the drive for operation and can be used by a
higher-level control as desired.
● The parameter can be written with the UTF-8 character set.
● Size in number of bytes: 64
● A UTF-8 character can have 1 to 3 bytes.
● Depending on the UTF-8 characters used, the number of characters that
can be entered is reduced.
● When default values are being loaded, the parameter is cleared (actual
length = 0).
P-0-0250 - Attributes Function: Par Editable: ++ Data length: 1Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Parameter for entering the system identification at mechatronic systems. The
parameter is not used by the drive for operation and can be used by a higher-
order control as desired.
● The parameter can receive 40 elements of 32-bit size.
P-0-0250.0.1 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter is used to store the set IndraWorks view on the drive.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 187/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function With this parameter, the voltage (V) transmitted via the cyclic channel at "re‐
mote analog input 1" can be displayed.
The parameter content can be
● directly processed in the drive PLC.
● transferred cyclically to the control.
● assigned to an internal drive parameter (assignment A).
P-0-0251 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: V Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function With this parameter, the voltage (V) transmitted via the cyclic channel at "re‐
mote analog input 2" can be displayed.
The parameter content can be
● directly processed in the drive PLC.
● transferred cyclically to the control.
● assigned to an internal drive parameter (assignment B).
P-0-0252 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: V Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function With this parameter, the voltage (V) transmitted via the cyclic channel at "re‐
mote analog input 3" can be displayed.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter can be used to configure basic settings for the analog inputs.
The following options are available
● Configuration of the analog inputs as voltage or current input
● Definition of the measuring range for the individual analog inputs
● Activation of wire break monitoring
Product-specific parameters
Product-specific parameters
Function This parameter is used together with the command "C9900 Service function
command". It is used for selecting functions. The command "C9900 Service
function command" is used by the service department for debugging and set‐
ting the devices.
P-0-0261 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used together with the command "C9900 Service function
command". It returns the status of the function. The command "C9900" is
used by the service department for debugging and setting the devices.
P-0-0262 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used together with the command "C9900 Service function
command". It is used for controlling the selected function. The command
"C9900" is used by the service department for debugging and setting the de‐
vices.
P-0-0263 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The available memory can de divided for an oscilloscope recording. The
more channels that are selected, the less is the recording depth per channel.
Function The IDN entered in "P-0-0270, Oscilloscope: Signal selection 5" defines the
signal that is to be recorded by channel 5.
Only such IDNs are allowed that are contained in the list "P-0-0149, Oscillo‐
scope: Signal selection list".
When the recording is over, the recorded measured values are contained in
parameter "P-0-0274, Oscilloscope: List of measured values 5".
See also Functional Description of Firmware "Oscilloscope Function"
P-0-0270 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
192/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The IDN entered in "P-0-0271, Oscilloscope: Signal selection 6" defines the
signal that is to be recorded by channel 6.
Only such IDNs are allowed that are contained in the list "P-0-0149, Oscillo‐
scope: Signal selection list".
When the recording is over, the recorded measured values are contained in
parameter "P-0-0275, Oscilloscope: List of measured values 6".
See also Functional Description of Firmware "Oscilloscope Function"
P-0-0271 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The IDN entered in "P-0-0272, Oscilloscope: signal selection 7" defines the
signal that is to be recorded by channel 7.
Only such IDNs are allowed that are contained in the list "P-0-0149, Oscillo‐
scope: Signal selection list".
After recording has been completed, the recorded measured values are con‐
tained in parameter "P-0-0276, Oscilloscope: List of measured values 7".
See also Functional Description of Firmware "Oscilloscope Function"
P-0-0272 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The IDN entered in "P-0-0273, Oscilloscope: signal selection 8" defines the
signal that is to be recorded by channel 8.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 193/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Only such IDNs are allowed that are contained in the list "P-0-0149, Oscillo‐
scope: Signal selection list".
After recording has been completed, the recorded measured values are con‐
tained in parameter "P-0-0277, Oscilloscope: List of measured values 8".
See also Functional Description of Firmware "Oscilloscope Function"
P-0-0273 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Function The time resolution (sampling rate) defines the time in which the trend re‐
cords its data.
See also Functional Description "Oscilloscope Function"
Use This setting also defines the time in which data must be retrieved. Since the
buffer has only limited recording capacity, the buffer must be read more fre‐
quently when the time is short than when it is long.
P-0-0279 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: ms Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The list of measured values contains the current trend data. Here, it must be
noted that the trend can only be recorded until the list is full. Once the list is
full, recording stops.
While reading is in progress, the data are written to a second buffer in the
background; thereafter, the buffer is switched. This double buffer mechanism
ensures that no data get lost by the reading process.
Element Contents
Currently, the version information uses only the low word
0 The low byte contains the version of the trend data (currently 1)
The high byte contains the number of channels (4 in this example)
1 Time stamp of P-0-0197 (low word) for the first data record
2 Time stamp of P-0-0197 (high word)
3 Data of signal selection 1
4 Data of signal selection 2
5 Data of signal selection 3
6 Data of signal selection 4
7 Time stamp of P-0-0197 (low word) for the second data record
8 Time stamp of P-0-0197 (high word)
9..12 Dates of the signals
13 Time stamp of P-0-0197 (low word) for the next data record
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
..
n Data of signal selection 4 - of the last data record
These data can, e.g., be stored on a PC and used for long-term recording or
continuous display. Any potential data loss can be recognized by a greater
distance between two time stamps.
P-0-0280 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter "P-0-0300" is an axis parameter, it exists once per drive ad‐
dress. "P-0-0300" is a list of parameter IDNs. With "P-0-0300" you set to
which parameter the corresponding input is assigned. Thus, the input bit at
bit position 0 of the parameter "P-0-0307" is assigned to the first, topmost pa‐
rameter of the list "P-0-0300". Parameter "P-0-0301" decides to which bit the
assignment takes place. IDNs must be input in P-0-0300.
Input signals: The ident numbers permitted for the configuration are listed in
"S-0-0399, IDN-list of configurable data in signal control word".
Default configurations
Function This parameter is used to configure the digital inputs/outputs of the control
section.
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Product-specific parameters
Function This parameter is used to display the states of the digital inputs on the device
or control section hardware. If 24 V is applied on a digital input, the fixed bit
assigned to the digital input is set to "1" in the parameter "P-0-0303". The
state of the digital inputs is updated with position loop clock.
See also Functional Description "Digital Inputs/Outputs"
Structure The assignment of digital input or interface pin to the parameter bit number:
HCS01.1-Economy, CSE02.1A and CSB02.1A
Product-specific parameters
Product-specific parameters
37201 16
37202 17
37101 18
Inputs/outputs 37102 19
on the DA op‐
tion 37103 20
37104 21
37105 22
37106 23
Product-specific parameters
37201 22
37202 23
37101 24
Inputs/outputs 37102 25
on the DA op‐
tion 37103 26
37104 27
37105 28
37106 29
Product-specific parameters
Function The parameter "P-0-0306" is used to configure the assignment of the digital
inputs on the input image of an axis (subdevice). For this, the connector/pin
designation of the digital input to be configured is entered in the list parame‐
ter. The input is four digits long for single-row connectors and five digits long
for double-row connectors.
For single-row connectors, 3105 is therefore: connector X31, pin 05
and for double-row connectors 35106: connector X35, row 1, pin 06
See also Functional Description "Digital Inputs/Outputs"
P-0-0306 - Attributes Function: Par Editable: PM Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function "P-0-0307" is an axis parameter, it exists once per drive address. "P-0-0307"
is a bit word; in this case, too, bit 0 correlates with the first, topmost entry in
the list "P-0-0306". This parameter shows the status of the internal inputs
with relation to the respective sub-device. "P-0-0307" serves thereby as dis‐
play of "P-0-0306" and is not writeable.
P-0-0307 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter "P-0-0310" is an axis parameter, it exists once per drive ad‐
dress. "P-0-0310" is a list of parameter IDNs. With "P-0-0310", you can pa‐
rameterize which parameter (which bit, see P-0-0311) is transmitted to which
output bit (P-0-0313). The ident number of the parameter to be output is en‐
tered in "P-0-0310".
Output signals: The ident numbers permitted for the configuration are listed in
"S-0-0398, IDN-list of configurable data in signal status word".
Default configurations
Function "P-0-0311" is an axis parameter, it exists once per drive address within the
controller "P-0-0311" is a list of bit words, with the input range 0 ... 31. This
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 203/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
corresponds to bit 0 up to bit 31. The first element in this list is related onto
the first element of the parameter list "P-0-0310". The selected bit from the
selected parameter in "P-0-0310" is assigned to "P-0-0307".
P-0-0311 - Attributes Function: Par Editable: PM Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function "P-0-0313" is an axis parameter, it exists once per drive address. "P-0-0313"
is a bit word. Bit 0 relates to the topmost parameter in "P-0-0310" and the bit
selection in "P-0-0311", and shows the status of this bit. The parameters
"P-0-0312" and "P-0-0316" decide whether and where the bit is output at the
output connector. The parameter "P-0-0313" is a display parameter which
displays the state of specific bits within an axis.
P-0-0313 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter "P-0-0316" is used to configure the assignment of the output
image of an axis (subdevice) on the digital outputs. For this, the
connector/pin designation of the digital output to be configured is entered in
the list parameter. The input is four digits long for single-row connectors and
five digits long for double-row connectors.
For single-row connectors, 3108 is therefore: connector X31, pin 08
and for double-row connectors 37208: connector X37, row 2, pin 08
See also Functional Description "Digital Inputs/Outputs"
P-0-0316 - Attributes Function: Par Editable: PM Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains information on the processor system which cause
exception. When an exception occurs, the data are permanently stored and
are available for evaluation after control voltage has been switched on. The
data are not processed, i.e. they can only be interpreted by Rexroth with the
analysis tool and with the corresponding information from the MAP files and,
if necessary, additionally from the LST files. The exception is chronologically
included in the error and logbook analysis.
P-0-0320 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The performance load display shows the averaged percentage task runtime
in relation to the total runtime. This parameter can be used to draw conclu‐
sions about the CPU load of the drive controller. The higher the value dis‐
played, the higher the load of the interrupt/task system of the drive controller.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function During operation the averaged CPU load is calculated (P-0-0322). With the
help of "P-0-0322.0.2" you can parameterize the prewarning threshold for the
critical load of the CPU. The parameterized value becomes effective when
the parameter mode is exited for the first time. When the prewarning
threshold is exceeded, warning E2004 is generated.
Notes on parameterization:
● The prewarning threshold can be switched off with P-0-0322.0.2 =
100 %
● We recommend a value < 90%. Please note that a loading > 90 % can
result in slower reactions to acyclic communication requests, reduced
MLD computer assignments and increased processing times for com‐
mands. In the case of loading > 95 % trouble-free operation can no lon‐
ger be ensured (F9003 watchdog).
If the loading is very high, values greater than 100 % may be dis‐
played, because internal evaluation functions are no longer called
in time.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter has been implemented for internal diagnostic messages.
Function The parameter P-0-0326 displays the factor with which the signals of the
measuring encoder are multiplied in the drive.
Use The multiplication of the measuring encoder is resulting depending on the pa‐
rameters "P-0-0765, Modulo factor measuring encoder" and "P-0-0327, En‐
coder resolution of measuring encoder".
The internal encoder resolution for the measuring encoder is calculated as
follows:
Product-specific parameters
0 Encoder type
0: Rotary
1: Not allowed
3 Rotational direction
0: Not inverted
1: Inverted
7/6 Absolute evaluation, option and deactivation
x0: Absolute evaluation impossible (bit 7 irrelevant)
01: Absolute evaluation possible and active (encoder is
handled as absolute encoder)
11: Absolute evaluation possible, but deactivated
8 Absolute evaluation in case of missing absolute evaluation Not defined in
option sercos
0: Bit 7 and bit 6 define the status of absolute evaluation
1: Absolute evaluation is activated, irrespective of bit 7
and bit 6
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
1: Activated
Monitoring of real markers can be activated for distance
and failure
13 Encoder replacement monitoring Not defined in
0: Activated - encoder replacement is detected (only for sercos
encoders with data memory)
1: Deactivated - no error (F2176) is signaled if the encoder
is replaced and the reference is maintained, if applicable.
The position initialization remains unaffected thereof
ATTENTION: Only makes sense for mechanically adjus‐
ted encoders!
14 Position initialization of encoders with absolute position Not defined in
0: Position initialization with absolute position and incr. sercos
track Not with
1: Position initialization without incr. track MPx-20VRS
Function This parameter determines the time constant of the filter for smoothing
"P-0-0052". Time constants can be set within a range from 0 to 1000 ms. If
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 209/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter can be used to activate different measuring encoder functions
and configure the scaling.
See functional description "Measuring encoder"
Structure
Bit Designation/function Comment
Product-specific parameters
Function This parameter shows whether or not the actual position values in "P-0-0052"
have been homed.
See Functional Description "Measuring encoder"
Structure
Bit Designation/function Comment
Product-specific parameters
Function This parameter displays the filtered measuring encoder velocity in rpm at the
measuring gear output.
See Functional Description "Measuring encoder"
P-0-0332 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: rpm Extr. val. ch.: -- Decim. pl.: 4
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter indicates the maximum extent of the travel range that can be
selected so that an absolute measuring encoder can be evaluated in abso‐
lute form.
See also Functional Description "Measuring Encoder"
Use If the encoder position exceeds this maximum travel range, bit 6 in the posi‐
tion feedback type parameter (P-0-0328) is set to zero. The actual position
value displayed is no longer unequivocal and the reference of the measuring
encoder is cleared. The reference status of the position encoders connected
to the drive is displayed in parameter "P-0-0331, Status of measuring encod‐
er".
P-0-0334 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: Rev Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Tab. 4-83: Calculating the current voltage level at the differential input of track A
of the motor encoder
P-0-0343 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Tab. 4-84: Calculating the current voltage level at the differential input of track B
of the motor encoder
P-0-0344 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Use The level of the voltage applied to the differential input (between A+ and A-)
can be calculated:
Tab. 4-85: Calculating the current voltage level at the differential input of track A
of encoder 2
P-0-0345 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Tab. 4-86: Calculating the current voltage level at the differential input of track B
of encoder 2
P-0-0346 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Tab. 4-87: Calculating the current voltage level at the differential input of track A
of the measuring encoder
P-0-0347 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Tab. 4-88: Calculating the current voltage level at the differential input of track B
of the measuring encoder
P-0-0348 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter shows the current power consumption from the mains.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameters shows the energy consumption of the converter since com‐
missioning.
Energy is calculated as the sum of mains power (P-0-0382) over operating
time.
min./max.: -20000000,00 /
MPx / PSB: Default value: ---
20000000,00
Product-specific parameters
min./max.: -2147483648 /
MPx / PSB: Default value: ---
2147483647
Function This parameter indicates the difference of the actual position values of en‐
coder 1 and encoder 2. The value is updated every 2 msec.
Function This parameter determines which IDN group is output in "P-0-0394, IDN
groups: List".
P-0-0393 P-0-0394
IDN groups: IDN groups: List
Control word
0000H No selection
0001H All parameters with scaling-dependent attributes (aren't changed
any more in phase 4).
0002H All parameters the attributes of which can still change in phase 4.
0010H All parameters with position scaling (S-0-0076).
0011H All parameters with speed scaling (S-0-0044).
0012H All parameters with acceleration scaling (S-0-0160).
0013H All parameters with torque scaling (S-0-0086).
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Use In the case of new control units it is aimed at relieving the non-cyclical data
channel of unnecessary or iterative requests. This primarily implies repeated
collection of the attributes. This is also done if the attributes cannot change
online in the drive. As there are attributes that are changing online (due to
scaling-dependence of the parameter or free assignment of signals as, for
example, in the case of the oscilloscope), it is necessary to give the control
unit a possibility to recognize the different characteristics of the attributes. Up
to now SERCOS hasn't provided any procedure for this purpose. An aggra‐
vating fact is that the existing parameters are depending on the firmware ver‐
sion.
An online procedure was therefore realized with which the control unit can
read via an IDN list which parameters are pertaining to the individual attribute
variants.
Function This parameter contains the IDN group selected in the parameter "P-0-0393,
IDN groups: Control word".
See also Parameter Description "P-0-0393, IDN groups: Control word"
P-0-0394 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This list parameter is used for configuring the signals which are to be filtered
by means of average value filter for display. It has exactly 2 elements (IDNs)
for the two filters:
● Element 1: Signal selection for display filter 1
● Element 2: Signal selection for display filter 2
218/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
The two filters are independent of each other and can be sepa‐
rately activated or deactivated. The average value filter for display
is calculated in the position clock (TA,position)!
Product-specific parameters
4.3.104 P-0-0396, Average value filter for display: Signal selection list
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Hardware --
Funct. package(s): --
Device parameter: axis-specific
Function The parameter S-0-0396 contains all parameters (IDNs) which can be used
as signals for the average value filter for display (cf. P-0-0395).
See also Parameter Description "P-0-0397, Average value filter for display:
Time constant"
Structure The following parameters are contained in the signal list:
● S-0-0040, Velocity feedback value
● S-0-0084, Torque/force feedback value
● S-0-0164, Acceleration feedback value 1
● S-0-0195, Acceleration feedback value 2
● S-0-0347, Velocity error
● S-0-0380, DC bus voltage
● S-0-0382, DC bus power
● P-0-0038, Torque-generating current, command value
● P-0-0039, Flux-generating current, command value
● P-0-0043, Torque-generating current, actual value
● P-0-0044, Flux-generating current, actual value
● P-0-0048, Effective velocity command value
● P-0-0049, Effective torque/force command value
● P-0-0141, Thermal drive load
● P-0-0440, Actual output current value (absolute value)
● P-0-0442, Actual value torque limit positive (stationary)
● P-0-0443, Actual value torque limit negative (stationary)
● P-0-0444, Actual value peak torque limit
● P-0-4046, Effective peak current
● ...
Product-specific parameters
Function The parameter "P-0-0397" is used to parameterize the filter effect (= time
constant of the PT1 filter) of the average value filters for display. It has exact‐
ly 2 elements (IDNs) for the two display filters:
● Element 1: Time constant for display filter 1
● Element 2: Time constant for display filter 2
The two filters are independent of each other and can be sepa‐
rately activated or deactivated. The average value filter for display
is calculated in the position clock (TA,position)!
Product-specific parameters
Function The function axis simulation is parameterized with this control word.
Structure
Bit Designation/function Comment
Function Via this parameter the control master can cyclically send a position correction
value to the drive.
See also Functional Description "Axis Error Correction"
Use Thereby, on the control side, correct errors in the actual position value of the
drive. The control-side correction is activated when P-0-0400 has been inclu‐
ded in the master data telegram. The values for P-0-0400 must have position
scaling according to "S-0-0076, Position data scaling type". The control-side
correction is contained in the "servo" expansion package and is only availa‐
ble after functional package has been enabled.
See also Parameter Description "S-0-0076, Position data scaling type"
P-0-0400 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter displays the currently effective correction value for the actual
position value.
Function The reference temperature for the position-dependent and the position-inde‐
pendent, temperature-related axis error correction is entered in this parame‐
ter.
See also Functional Description "Axis Error Correction"
P-0-0402 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_MV
Unit: S-0-0208 Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function Via this parameter the actual temperature of the axis can be transmitted to
the controller. This value acts on the position-dependent, temperature-related
axis error correction.
See also Functional Description "Axis Error Correction"
P-0-0404 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_MV
Unit: S-0-0208 Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function Via this parameter the actual temperature of the axis can be transmitted to
the controller. This value acts on the position-independent, temperature-rela‐
ted axis error correction.
See also Functional Description "Axis Error Correction"
P-0-0405 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_MV
Unit: S-0-0208 Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function The start position of the correction range for the precision axis error correc‐
tion is determined in this parameter. The correction range is between
P-0-0408 and "P-0-0409, Axis correction end position".
Product-specific parameters
Function The end position of the correction range for the precision axis error correction
is displayed in this parameter. The correction range is between "P-0-0408,
Axis correction start position" and P-0-0409.
Function The support point distance for the correction range of the precision axis error
correction is determined by means of this parameter. The correction values
entered in "P-0-0411/P-0-0412, Axis correction, correction table positive/
negative" refer to the support points of the correction range.
With the value "0" in P-0-0410, the precision axis error correction
is deactivated, if the value is greater than "0" it is activated!
Product-specific parameters
Function For precision axis error correction the position correction values for the sup‐
port points of the correction range are entered in the table lines of this list pa‐
rameter. The correction values for P-0-0411 have to be determined with posi‐
tive direction of motion because they only take effect with positive direction of
motion.
See also Functional Description "Axis Error Correction"
Use The first and last of the table lines used have to written with the value "0" be‐
cause otherwise an abrupt change of the actual position value occurs at the
start and end position of the correction range!
Tab. 4-90: Assignment of support point correction values to table line index of
correction tables P-0-0411 when using 500 support points
Product-specific parameters
Function For precision axis error correction the position correction values for the sup‐
port points of the correction range are entered in the table lines of this list pa‐
rameter. The correction values for P-0-0412 have to be determined with neg‐
ative direction of motion because they only take effect in the drive with nega‐
tive direction of motion.
See also Functional Description "Axis Error Correction"
Use The first and last of the table lines used have to written with the value "0" be‐
cause otherwise an abrupt change of the actual position value occurs at the
start and end position of the correction range!
Tab. 4-91: Assignment of support point correction values to table line index of
correction tables P-0-0412 when using 500 support points
Function With axis error correction, errors in the mechanical system and the measur‐
ing systems are systematically corrected in the actual position value system.
The actual position value system to be corrected is selected in this parame‐
ter.
See also functional description "Axis error correction"
228/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter indicates the voltage value that is output via analog output 1
of optional module "DA".
Function This parameter indicates the voltage value, which is output via analog output
2 of optional module "DA".
Product-specific parameters
Function This parameter is used to make the reference definition of analog output 1
(value with output 0 V). The unit is defined by the parameter assigned in
"P-0-0420, Analog output 1, signal selection".
The parameter is inactive when parameters with "binary" display attribute are
assigned.
See also Functional Description "Analog Outputs"
P-0-0418 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter is used to make the reference definition of analog output 2
(value with output 0 V). The unit is defined by the parameter assigned in
"P-0-0423, Analog output 2, signal selection".
The parameter is inactive when parameters with "binary" display attribute are
assigned.
See also Functional Description "Analog Outputs"
P-0-0419 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter can be used to assign a parameter IDN to the analog out‐
put 1 of the drive controller. All IDNs can be assigned that are listed in
"P-0-0426, Analog output, IDN list of assignable parameters".
The current parameter value is output as a voltage on the analog output if the
output of parameters for axes 1 or 2 is selected in the parameter "P-0-0427,
Control parameter of analog output". The output voltage can, for example, be
made visible by means of an oscilloscope.
See also Functional Description "Analog Outputs"
230/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used to scale the voltage output by analog output 1. The
unit is defined by the parameter assigned in "P-0-0420, Analog output 1, sig‐
nal selection".
If parameters with "binary" display attribute are assigned, this parameter
serves to define the number of the bit that is to be output at the analog out‐
put. If the respective bit is not set, the output voltage is 0 V. If the bit is set,
1 V is output.
See also Functional Description "Analog Outputs"
P-0-0422 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter can be used to assign a parameter IDN to the analog out‐
put 2 of the drive controller. All IDNs can be assigned that are listed in
"P-0-0426, Analog output, IDN list of assignable parameters".
The current parameter value is output as a voltage on the analog output if the
output of parameters for axes 1 or 2 is selected in the parameter "P-0-0427,
Control parameter of analog output". The output voltage can, for example, be
made visible by means of an oscilloscope.
See also Functional Description "Analog Outputs"
P-0-0423 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used to scale the voltage output by analog output 2. The
unit is defined by the parameter assigned in "P-0-0423, Analog output 2, sig‐
nal selection".
If parameters with "binary" display attribute are assigned, this parameter
serves to define the number of the bit that is to be output at the analog out‐
put. If the respective bit is not set, the output voltage is 0 V. If the bit is set,
1 V is output.
See also Functional Description "Analog Outputs"
P-0-0425 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter contains a list of all parameter IDNs which can be assigned
via the following parameters:
● P-0-0420, Analog output 1, signal selection
● P-0-0423, Analog output 2, signal selection
● P-0-0459, Analog output 3, signal selection
● P-0-0462, Analog output 4, signal selection
See also Functional Description "Analog Outputs"
P-0-0426 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This control parameter serves to define the signal source and restrictions for
the analog outputs.
Product-specific parameters
Product-specific parameters
Function This parameter is used to make the reference definition of analog output 1 of
the optional module "DA" (value with output 0 V). The unit is defined by the
parameters assigned in "P-0-0459, DA: analog output, signal selection".
The parameter is inactive when parameters with "binary" display attribute are
assigned.
See also Functional Description "Analog Outputs"
P-0-0428 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to make the reference definition of analog output 2 of
the optional module "DA" (value with output 0 V). The unit is defined by the
parameters assigned in "P-0-0459, DA: analog output, signal selection".
The parameter is inactive when parameters with "binary" display attribute are
assigned.
See also Functional Description "Analog Outputs"
P-0-0429 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used to display the position command value effective at the
position loop input. Depending on the active operation mode, this position
command value can be
● the position command value generated and filtered by the drive itself
(e.g., in the case of interpolation modes)
● the position command value cyclically set by a control unit, and filtered
and fine-interpolated in the drive.
Product-specific parameters
Function This parameter determines the radius of a circular path that is used as refer‐
ence for quadrant error correction.
Use This radius is used for calculating the path velocity and should correspond to
a radius, characteristic for the machine, for circularly interpolating machining.
See also Functional Description "Quadrant Error Correction"
P-0-0436 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to enter the amount of the velocity range of the veloci‐
ty pulse, which is connected to the velocity command value when quadrant
error correction is active and the direction of motion is reversed.
Function This parameter corresponds to "P-0-0439, Table of velocity pulse for quad‐
rant error correction".
In the lines of this list parameter, a maximum of 20 path velocities can be en‐
tered in ascending order. A velocity pulse amplitude for quadrant error cor‐
rection can be assigned in P-0-0439 to each entered path velocity.
236/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter corresponds to "P-0-0438, Table of path velocities for quad‐
rant error correction".
In the lines of this list parameter a maximum of 20 velocity pulse amplitudes
can be entered in ascending order. The values are assigned to the path ve‐
locities of the corresponding lines of P-0-0438.
See also Functional Description "Quadrant Error Correction"
P-0-0439 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: + Decim. pl.:
S-0-0046
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Display parameter for the measured actual current value which is the rms val‐
ue of the motor phase current.
The phase currents are scanned in the current controller cycle, converted as
a current vector and the rms value is calculated from these data. This param‐
eter displays the value averaged during 2 ms and is used as the input value
for the overload models of amplifier and motor.
P-0-0440 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: A Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function Display parameter for the effective positive torque limit value. The displayed
value is the smallest value of
● S-0-0092, Bipolar torque/force limit value
● P-0-0109, Torque/force peak limit
● S-0-0082, Torque/force limit value positive
● load-dependent limitations by motor and controller
● motor-dependent limitations.
See also Functional Description "Current and Torque/Force Limitation"
Use The unit for the values of this parameter depends on the scaling that has
been set (S-0-0086, Torque/force data scaling type).
238/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Display parameter for the effective negative torque limit value. The displayed
value is the smallest value of
● "S-0-0092, Bipolar torque/force limit value"
● "P-0-0109, Torque/force peak limit"
● "S-0-0083, Torque/force limit value negative"
● load-dependent limitations by motor and controller
● motor-dependent limitations.
See also Functional Description "Current and Torque/Force Limitation"
Use The unit for the values of this parameter depends on the scaling that has
been set (S-0-0086, Torque/force data scaling type).
Product-specific parameters
Function Display parameter for the maximum drive torque or the maximum drive force.
The value is the limit value for positive and negative torque/force command
values.
The value displayed is the lower value of
● "P-0-0109, Torque/force peak limit"
● "S-0-0092, Bipolar torque/force limit value"
● work load-dependent limits by motor and controller
● motor-dependent limits.
The unit for the values of this parameter depends on the scaling that has
been set ("S-0-0086, Torque/force data scaling type").
See also Functional Description "Torque/Force Limitation"
P-0-0444 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: -- Decim. pl.:
S-0-0094
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter combines the status messages (bits) referring to torque/
current limitation.
See also Functional Description "Current and Torque/Force Limitation"
Structure The individual bits have the following significance:
Product-specific parameters
Product-specific parameters
Function A thermal model is calculated for the motor. This model is based on the time
constants of the motor winding, the continuous current and the short-time
overload of the motor. If it is at standstill or if it does not feature any tempera‐
ture measurement function, a motor can only be protected against destruc‐
tion with the "thermal model". If the load has reached the load limit (100%),
the motor current is reduced.
The following parameter are included in the thermal model of the motor:
● P-0-0640, Cooling type
● P-0-4034, Thermal time constant of winding
● P-0-4035, Thermal time constant of motor
● P-0-4037, Thermal short-time overload of winding
● S-0-0111, Motor current at standstill
Function Parameter "P-0-0446" serves to check the thermal load of the motor. A ther‐
mal load of 100% corresponds to the maximum motor temperature.
The parameter can be preset to a value that is higher than the current one to
allow checking the thermal motor load on commissioning more quickly with‐
out having to perform machining cycles within this time interval.
See also Functional Description "Motor Temperature Monitoring"
P-0-0446 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: % Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
the absolute velocity value. The current value is displayed in "P-0-0450, Cur‐
rent torque/force constant".
Function The currently effective value of the torque/force constant is displayed in this
parameter. The torque or the force at the motor can be calculated, by means
of approximation, by multiplying "P-0-0450" and "P-0-0043, Torque-generat‐
ing current, actual value".
For synchronous motors, the value of the torque/force constant depends on
the
● value of the currently flowing motor current: Reduction of torque/force
constant at currents greater Inominal
● temperature of motor winding and rotor: Reduction of torque/force con‐
stant at rising temperature
For asynchronous motors, the torque/force constant is reduced, when the
motor is operated with field weakening.
P-0-0450 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: Nm/A Extr. val. ch.: -- Decim. pl.: 2
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function The acceleration torque is determined from the total inertia (determined using
the automatic control loop setting) and the value in "S-0-0164, Acceleration
feedback value 1". The acceleration torque is displayed in "P-0-0451, Actual
acceleration torque/force value".
P-0-0451 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: -- Decim. pl.:
S-0-0094
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The current process torque is determined from the current total torque in pa‐
rameter "S-0-0084, Torque/force feedback value" and the determined
"P-0-0451, Actual acceleration torque/force value". The process torque is dis‐
played in "P-0-0452, Actual process torque/force value".
P-0-0452 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: -- Decim. pl.:
S-0-0094
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter displays the current velocity feedforward control value.
The parameter is related to "S-0-0044, Velocity data scaling type".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 245/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Use With lagless operation modes, the velocity feedforward control is calculated
in the position controller on the basis of the position command values and
added to the velocity command value in dependence on "P-0-0040 Velocity
feedforward evaluation".
P-0-0454 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: -- Decim. pl.:
S-0-0046
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter is used to set the position command value delay, it specifies
the number of position clocks to be delayed.
The position command value generator (P-0-0457) is the input value of the
command value delay function, the output value is the position command val‐
ue of controller (P-0-0434). The output value can be delayed by up to 32 po‐
sition clocks. The default setting is "0", that is to say the position command
value delay function is not active.
P-0-0456 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter displays the position command value without delay. Depend‐
ing on the active operation mode, this position command value can be
● the position command value generated, filtered and fine interpolated by
the drive itself (e.g., in the case of interpolation modes) or
● the position command value cyclically set by a control unit, filtered and
fine interpolated in the drive.
The position command value generator is the input value of the command
value delay function, the output value is the position command value of con‐
troller (P-0-0434). The output value can be delayed by up to 32 position
clocks, the number of clocks is set with the position command value delay
(P-0-0456).
See also Functional Description "Position Control With Cyclic Command Val‐
ue Input"
See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Internal Interpolation"
P-0-0457 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter delays the efficiency of "S-0-0081, Additive torque/force com‐
mand value" and therefore supports the external acceleration feedforward
control. The control cyclically delivers the value of the acceleration feedfor‐
ward control to the drive as additive torque/force command value. The delay
ensures that "P-0-0070, Effective additive torque/force command value" be‐
comes active simultaneously with "P-0-0434, Position command value of
controller". To achieve this, the effective torque/force command value can be
delayed by a maximum of 64 position clocks.
If the value is set higher than zero, the function is activated. This also acti‐
vates an average value filter (P-0-0041) and a linear fine interpolator (control
clock in position clock) according to position command value acceptance.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 247/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
The function is also activated if value "-1" is set. In this context, the active de‐
lay is calculated internally according to the formula presented in the note be‐
low (max. 64 clock pulses).
Function With this parameter, analog output 1 of the optional module "DA" can be as‐
signed a parameter IDN. All IDNs can be assigned that are listed in
"P-0-0426, Analog output, IDN list of assignable parameters".
The current parameter value is output as a voltage on the analog output if the
output of parameters for axes 1 or 2 is selected in the parameter "P-0-0427,
Control parameter of analog output". The output voltage can, for example, be
made visible by means of an oscilloscope.
See also Functional Description "Analog Outputs"
P-0-0459 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to display the information transmitted from a device
(inverter or converter) via the module bus. Due to the hierarchical structure of
the module bus, only the most significant information is effective!
Product-specific parameters
Product-specific parameters
Function This parameter shows the currently active information of the module bus.
See also Functional Description "Power supply"
Structure
Bit Designation/function Comment
Product-specific parameters
Function With this parameter, analog output 2 of the optional module "DA" can be as‐
signed a parameter IDN. All ID numbers can be assigned, which are entered
in the list "P-0-0426, Analog output, IDN list of assignable parameters".
The current parameter value is output as a voltage on the analog output if the
output of parameters for axes 1 or 2 is selected in the parameter "P-0-0427,
Control parameter of analog output". The output voltage can, for example, be
made visible by means of an oscilloscope.
See also Functional Description "Analog Outputs"
P-0-0462 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to scale the voltage output by analog output 1 of the
optional module "DA". The unit is defined by the parameters assigned in
"P-0-0459, DA: analog output 1, signal selection".
If parameters with "binary" display attribute are assigned, this parameter
serves to define the number of the bit that is to be output at the analog out‐
put. If the respective bit is not set, the output voltage is 0 V. If the bit is set,
1 V is output.
See also Functional Description "Analog Outputs"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 251/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used to scale the voltage output by analog output 2 of the
optional module "DA". The unit is defined by the parameters assigned in
"P-0-0462, DA: analog output 2, signal selection".
If parameters with "binary" display attribute are assigned, this parameter
serves to define the number of the bit that is to be output at the analog out‐
put. If the respective bit is not set, the output voltage is 0 V. If the bit is set,
1 V is output.
See also Functional Description "Analog Outputs"
P-0-0464 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter detects the peak value of the amplifier load (P-0-0141). The
user has to write a value to the parameter to reset the peak value.
Use A value of "zero" must be written to the parameter before commencement of
a machining cycle, in order to detect the maximum value of the load during
this machining cycle. After completion of the machining cycle, the peak value
of the load of this cycle can be read.
P-0-0465 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: % Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter detects the peak value of the thermal motor load (P-0-0465).
The user has to write a value to the parameter to reset the peak value.
252/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter detects the peak value of "P-0-0844, Maximum value thermal
load of braking resistor". The parameter is continuously written by the drive.
To reset the value, the parameter has to be written manually.
A value of "zero" has to be written to the parameter before a machining cycle
in order to detect the maximum value of the load during this machining cycle.
After completion of the machining cycle, the peak value of the load of this cy‐
cle can be read.
P-0-0467 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: % Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter defines the threshold of the thermal motor load at which the
prewarning bit (S-0-0012; bit 2) and prewarning "E2051 Motor overtemp. pre‐
warning" are set.
P-0-0468 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: % Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter defines the threshold of the thermal braking resistor load at
which the prewarning bit (S-0-0012; bit 1) and prewarning "E2820, Braking
resistor overload prewarning" are set.
P-0-0469 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: % Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter, along with parameter "P-0-0471", is intended for extended
diagnostic purposes.
P-0-0470 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter, along with parameter "P-0-0470", is intended for extended
diagnostic purposes.
P-0-0471 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter displays the current up to which torque generation is realized
proportionally to the cross current. At higher currents, torque generation is
underproportionate due to the iron saturation in the motor. As of this current
value, the value for the current torque constant is reduced.
For Rexroth motors with encoder data memory, the parameter is initialized
from the encoder data memory.
P-0-0472 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: A Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 5
254/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function When bit 0 is set, a logbook entry is generated for the most important "SMO
operating states" upon their activation. The configuration is used for diagnos‐
tic purposes.
P-0-0476 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: HEX
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter shows the logical axis number of the entry in "P-0-0478, Log‐
book event".
● 0 = Logical axis "0" (left-hand axis)
● 1 = Logical axis "1" (right-hand axis)
● 0xFFFF = Both axes
Function This parameter displays a code which allows the drive development staff to
diagnose drive-internal states.
Use The entries in this parameter are realized automatically by the controller sub‐
ject to internal states. The entry time is retained in "P-0-0479, Logbook time
stamp".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 255/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter shows the time of entry in "P-0-0478, Logbook event". The
value of "P-0-0190, Operating hours control section" is recorded in parameter
"P-0-0478" at the corresponding time.
Function This parameter allows selecting a controller-internal memory cell. This mem‐
ory cell can be read or written by means of the patch function 1.
See also Functional Description
Product-specific parameters
Function This parameter is used to configure the access and the output to the control‐
ler-internal memory address selected in "P-0-0480, Patch function 1, source
pointer".
See also Functional Description "Patch Function"
Structure
Bit Designation/function Comment
Product-specific parameters
Function This parameter defines a bit mask that acts on the output of the value of the
controller-internal memory cell selected by "P-0-0480, Patch function 1,
source pointer". This parameter acts subject to "P-0-0481, Patch function 1,
attribute". It is only active in certain configuration constellations.
Function This parameter defines an exponent that acts on the output of the value of
the controller-internal memory cell selected by "P-0-0480, Patch function 1,
source pointer". This parameter acts subject to "P-0-0481, Patch function 1,
attribute". It is only active in certain configuration constellations.
Product-specific parameters
Function By means of this parameter it is possible to read or write a value to the con‐
tent of a controller-internal memory cell. Further specifications and configura‐
tions are made in the other parameters relevant to the patch function (for de‐
tails please see the Functional Description).
Function This parameter allows selecting a controller-internal memory cell. This mem‐
ory cell can be read or written by means of the patch function 2.
See also Functional Description
Product-specific parameters
Function This parameter is used to configure the access and the output to the control‐
ler-internal memory address selected in "P-0-0486, Patch function 2, source
pointer".
See also Functional Description "Patch Function"
Structure
Bit Designation/function Comment
Product-specific parameters
Function This parameter defines a bit mask that acts on the output of the value of the
controller-internal memory cell selected by "P-0-0486, Patch function 2,
source pointer". This parameter acts subject to "P-0-0487, Patch function 2,
attribute". It is only active in certain configuration constellations.
Function This parameter defines an exponent that acts on the output of the value of
the controller-internal memory cell selected by "P-0-0486, Patch function 2,
source pointer". This parameter acts subject to "P-0-0487, Patch function 2,
attribute". It is only active in certain configuration constellations.
Product-specific parameters
Function By means of this parameter it is possible to read or write a value to the con‐
tent of a controller-internal memory cell. Further specifications and configura‐
tions are made in the other parameters relevant to the patch function.
Function This parameter is used for selecting a variable of the PLC. This variable can
be read out via the "symbol-based patch function 1, display".
The variable is accessed via the symbol name, which has the following syn‐
tax:
<Application name>.<POU name>.<Variable name>
The display format can be affixed as string to the symbol name, separated by
a comma.
Example of entering a symbol name:
Application.GVL.dwCounter,16# (data type is known, display format hexadec‐
imal)
«Up to firmware version 17VRS: This parameter is used for selecting a mem‐
ory cell of the PLC. This memory cell can be read out via "PLC patch function
1, display". The address is selected via "range/offset" from the symbol file of
the PLC. The data type (sign, number of bytes) and the display format can be
affixed as string to the address selection, separated by a comma. »
Observe the following when entering the name:
● The parameter can be written with the UTF-8 character set.
● Maximum size: 256 bytes
● A UTF-8 character can have 1 to 3 bytes.
● Depending on the UTF-8 characters used, the number of characters that
can be entered is reduced.
262/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
BOOL 1 byte
BYTE, USINT 1 byte without sign
SINT 1 byte with sign
WORD, UINT 2 bytes without sign
INT 2 bytes with sign
DWORD, UDINT 4 bytes without sign
DINT 4 bytes with sign
REAL 4 bytes
2# Binary display
10# Decimal display
16# Hexadecimal display
Function This parameter displays the content of a variable that has been selected via
the PLC patch function.
See also Functional Description "Patch Function"
P-0-0493 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter is used for selecting a variable of the PLC. This variable can
be read out via the "symbol-based patch function 2, display".
The variable is accessed via the symbol name, which has the following syn‐
tax:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 263/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
BOOL 1 byte
BYTE, USINT 1 byte without sign
SINT 1 byte with sign
WORD, UINT 2 bytes without sign
INT 2 bytes with sign
DWORD, UDINT 4 bytes without sign
DINT 4 bytes with sign
REAL 4 bytes
2# Binary display
10# Decimal display
16# Hexadecimal display
Product-specific parameters
Function This parameter displays the content of a variable that has been selected via
the PLC patch function.
See also Functional Description "Patch Function"
P-0-0495 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter is used for selecting a variable of the PLC. This variable can
be read out via the "symbol-based patch function 3, display".
The variable is accessed via the symbol name, which has the following syn‐
tax:
<Application name>.<POU name>.<Variable name>
The display format can be affixed as string to the symbol name, separated by
a comma.
Example of entering a symbol name:
Application.GVL.dwCounter,16# (data type is known, display format hexadec‐
imal)
«Up to firmware version 17VRS: This parameter is used for selecting a mem‐
ory cell of the PLC. This memory cell can be read out via "PLC patch function
3, display". The address is selected via "range/offset" from the symbol file of
the PLC. The data type (sign, number of bytes) and the display format can be
affixed as string to the address selection, separated by a comma. »
Observe the following when entering the name:
● The parameter can be written with the UTF-8 character set.
● Maximum size: 256 bytes
● A UTF-8 character can have 1 to 3 bytes.
● Depending on the UTF-8 characters used, the number of characters that
can be entered is reduced.
The following data types are supported:
BOOL 1 byte
BYTE, USINT 1 byte without sign
SINT 1 byte with sign
WORD, UINT 2 bytes without sign
INT 2 bytes with sign
DWORD, UDINT 4 bytes without sign
DINT 4 bytes with sign
REAL 4 bytes
Product-specific parameters
2# Binary display
10# Decimal display
16# Hexadecimal display
Function This parameter displays the content of a variable that has been selected via
the PLC patch function.
See also Functional Description "Patch Function"
P-0-0497 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter is used for selecting a variable of the PLC. This variable can
be read out via the "symbol-based patch function 4, display".
The variable is accessed via the symbol name, which has the following syn‐
tax:
<Application name>.<POU name>.<Variable name>
The display format can be affixed as string to the symbol name, separated by
a comma.
Example of entering a symbol name:
Application.GVL.dwCounter,16# (data type is known, display format hexadec‐
imal)
«As of firmware version 17VRS: This parameter is used for selecting a mem‐
ory cell of the PLC. This memory cell can be read out via "PLC patch function
4, display". The address is selected via "range/offset" from the symbol file of
the PLC. The data type (sign, number of bytes) and the display format can be
affixed as string to the address selection, separated by a comma. »
Observe the following when entering the name:
● The parameter can be written with the UTF-8 character set.
266/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
BOOL 1 byte
BYTE, USINT 1 byte without sign
SINT 1 byte with sign
WORD, UINT 2 bytes without sign
INT 2 bytes with sign
DWORD, UDINT 4 bytes without sign
DINT 4 bytes with sign
REAL 4 bytes
2# Binary display
10# Decimal display
16# Hexadecimal display
Function This parameter displays the content of a variable that has been selected via
the PLC patch function.
See also Functional Description "Patch Function"
P-0-0499 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter presets the start value for the amplitude of the test signal for
the automatic commutation offset determination methods with current.
See also Functional Description "Commutation Setting"
Use The value for this parameter is stored. It can be changed for adjustment pur‐
poses.
268/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter sets the start frequency of the test signal for the automatic
commutation offset determination.
See also Functional Description "Commutation Setting"
Use The value for this parameter is stored. It can be changed for adjustment pur‐
poses.
Product-specific parameters
Function In case of synchronous motors with encoder data memory, which are deliv‐
ered with fixed mechanical configuration of rotor and absolute encoder sys‐
tem, this value is determined once at the factory and stored in the encoder
data memory "P-0-3008, Commutation offset, encoder memory".
During initialization, after switch-on and after the encoder memory has been
detected, the parameter value is automatically loaded to the controller, and
the motor is immediately ready for operation with drive enable. Parameter "P-
x-0508" depends on the parameter set, i.e., parameter "P-0-3008" is loaded
to the active parameter set of P-x-0508.
This value is determined once by the axis for synchronous kit motors with ab‐
solute measuring system and stored in the controller in parameter "P-0-0508"
and, if available, in "P-0-3008" of the encoder memory).
See also functional description "Commutation setting"
Use In case of synchronous kit motors with incremental measuring system, the
commutation offset has to be re-determined each time the drive is switched
on. After drive enable, a procedure for determining the correct value for the
effective commutation offset (P-0-0521) is automatically started. After this
procedure has been completed successfully, the motor is able to produce
force. The available commutation setting procedures are saturation method
and sine-wave method.
The saturation method is to be preferred as it runs without motion. During the
subsequent homing procedure of the incremental measuring system, during
spindle positioning or with active cyclic reference mark monitoring, a commu‐
tation offset fine adjustment is carried out. To achieve this, the value of
"P-0-0521" converted to the reference mark is compared with "P-x-0508" and
corrected if necessary. The motor then runs with the optimum commutation
offset from "P-0-3008"/"P-x-0508" which was determined during initial com‐
missioning. Commutation offset fine adjustment is deactivated if the value "0"
is entered in "P-0-0508".
In general, the values of "P-0-0521" and "P-x-0508" are different because
"P-0-0521" is related to the position of the motor encoder at the time the drive
is switched on and "P-x-0508" is related to the reference mark of the axis!
Product-specific parameters
Function When the motor is switched on, this parameter provides a functional commu‐
tation offset value for synchronous motors which are equipped with a low-res‐
olution measuring system which, however, measures absolutely with respect
to the pole pairs of the motor (e.g., digital Hall sensors).
With this commutation offset value, the motor is immediately functional after
drive enable. However, reduced power has to be expected.
The value has to be determined on initial commissioning of the motor. Ideally,
this has to be done for a motor position which corresponds as precisely as
possible to the position feedback value determined with low resolution (e.g.,
centrally in a 60° range with three digital Hall sensors). The value is stored in
the controller and becomes directly active at "AF" in "P-0-0521, Effective
commutation offset".
Product-specific parameters
Unit for type of constr. of motor Decimal places for type of constr. of mo‐
(P-0-4014) tor (P-0-4014)
Rotary Linear Rotary Linear
kgm2 kg 5 5
Product-specific parameters
Function The controller monitors the motor temperature by means of temperature sen‐
sors installed in the motor. The controller can directly evaluate temperature
sensors, because the characteristics of the sensors are stored in the firm‐
ware.
See also functional description "Motor temperature monitoring"
Use
The correct value is written to this parameter as follows:
● In case of Rexroth motors with encoder data memory:
Automatically on switchon of the controller and transition of
"PM → OM".
● In case of Rexroth motors without encoder data memory:
By loading the motor parameters with commissioning soft‐
ware "IndraWorks Ds/D/MLD".
● In case of other motors:
By manual input according to the manufacturer's specifica‐
tion.
The temperature sensor type integrated into the motor is configured by the
parameter value:
Parameter val‐
Function Comment
ue
0 No temperature sensor
SNM150-DK, by Thermik (PTC with switching per‐
1
formance, three-core circuitry)
2 K227, (NTC, analog characteristic)
3 KTY84-130, (PTC, analog characteristic)
SNM130-DK, (PTC with switching performance,
4
three-core circuitry)
5 Temperature sensor for Bosch SF motors (NTC)
Temperature sensor with switching performance as of
6
(bimetal) MPx-16V10
Temperature sensor evaluation via Safety4Wire or
as of
7 Endat 2.2 protocol (digital transmission of meas‐
MPx-20V02
ured values)
Unknown temperature sensor
Product-specific parameters
0 -40
1 -30
2 -20
3 -10
4 0
5 10
6 20
7 30
8 40
9 50
10 60
11 70
12 80
13 90
14 100
15 110
16 120
17 130
18 140
19 150
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is only used if encoder 2 is the only commutation encoder
(encoder 2 = motor control encoder; encoder 1 is not available), or if motor
control was actively switched to encoder 2 (P-0-0185).
With an absolute measuring system, the value is determined once on the axis
side and stored in the controller in parameter "P-0-0515".
See also Functional Description "Commutation setting"
Use For incremental measuring systems, the commutation offset has to be deter‐
mined again each time the drive is switched back on. After drive enable has
been set, a procedure for determining the correct value for the effective com‐
mutation offset (P-0-0521) is automatically started. After the procedure has
been successfully run, the motor is able to generate force. The saturation
method or the sine-wave method can be selected as the commutation setting
procedure.
When the incremental measuring system is subsequently homed, during
spindle positioning or when the zero mark of the encoder is passed, a com‐
mutation offset fine adjustment is carried out. For this purpose, the value of
"P-0-0521", that was converted to the reference mark, is compared to "P-
x-0515" and corrected, if necessary. Afterwards the motor runs with the opti‐
mum commutation offset from "P-x-0515" determined during the initial com‐
missioning. The commutation fine adjustment is activated if bit 10 has been
set in "P-0-0522".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 275/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The commutation speed can be smoothed by entering a time constant which
exceeds the sampling time of the velocity controller. The commutation speed
is used to improve the dynamic behavior in current control mode.
Use The commutation speed should only be smoothed if a position signal with
poor resolution is present and mechanical resonance points are therefore ex‐
cited. The dynamics of the current control is deteriorated by using a high filter
time constant.
P-0-0516 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: us Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The current status of the commutation setting of the connected motor is diag‐
nosed in the commutation status word.
If motors with digital Hall sensors are used, the signal state of the Hall sensor
signals is displayed via bits 12... 14.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 277/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Use
In the initial commissioning mode (can be activated in "P-0-0522, Control
word for commutation setting"), the value of "P-0-0521" can be written and
thus used for manually optimizing the motor-specific commutation offset val‐
ue. If the initial commissioning mode has been activated, the optimized value
is automatically applied to "P-0-0508" and, where applicable, to "P-0-3008"
(not for Rexroth housing motors MSK and MS2N!). Options for optimization:
● Manual optimization of the commutation offset determined via command
or automatically by measuring the drive torque or drive force at constant
torque/force command value and varying the value of "P-0-0521". The
optimum value is the value with which the highest torque or the highest
force is generated! Based on the original value, the value of "P-0-0521"
should not be modified by more than +/-150!
● Subsequent optimization using P-0-0518, C5600 Command subsequent
optimization of commutation offset.
See also Functional Description "Commutation setting\Basics on commuta‐
tion setting".
P-0-0521 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Purpose and content of the control word for commutation setting:
● Setting the method with which the controller determines the commuta‐
tion offset of a closed-loop-controlled synchronous motor, if required.
● Configuring options with regard to the execution of the determination
procedure.
280/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
2/1/0 Method of commutation setting for synchronous motors The sine wave
with motor encoder method with
000: Locked current is not
available for
001: Currentless (without AF) - manual distance measure‐ MPE!
ment with linear motors
010: With current (with AF) - automatically determined for
all SY types of motor construction by saturation method
011: With current (with AF) - automatically determined for
all SY types of motor construction by sine-wave method
100: With current (with AF) - automatically determined for
all SY types of motor construction by orientation method
(FW 20VRS and above)
3 Method of commutation setting for rotary synchronous mo‐ MPx20 and
tors operated without encoder above
0: With current (with AF) - rotor aligned with a fixed com‐
mutation angle preset (orientation)
1: With current (with AF) - rotor position automatically de‐
termined by saturation method
4 Search direction for sine-wave method
0: Increase of amplitude with priority
1: Increase of frequency with priority
5 Return to the start position when sine-wave and saturation
methods are used
0: Automatic return
1: No return
6 Reserved
7 Setting the test signal for sine-wave method
0: Fixed duration
1: Fixed number of signal periods
8 Releasing holding brake with active sine-wave method
0: Brake remains applied
1: Brake is released
9 Storing the commutation offset
0: For kit motors and third-party motors, the commutation
offset, which has been determined and, if necessary, sub‐
sequently optimized, is stored in the encoder memory if
any is available.
1: Even if an encoder memory is available, the determined
offset is not saved in the encoder, but in the drive. This
can only be used for motors with mechanically adjusted
encoders (defined commutation offset).
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 281/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Tab. 4-104: Relevant bits of P‑0‑0522, Control word for commutation setting
Use Bit 15 = "1" of "P-0-0522" is used to inform the controller that the initial com‐
missioning of a synchronous motor is carried out. The "initial commissioning
mode" allows the value of the effective commutation offset (P-0-0521) to be
optimized and stored. Once bit 15 is "0" again, "P-0-0521" can neither be
manually changed nor stored.
If bit 13 is set in the "initial commissioning mode", the encoder position is shif‐
ted by the commutation angle offset in encoder systems that support zero
point shifting. This way, the commutation angle offset can be set to zero
since encoder position and commutation angle have the same reference.
Optimizing and storing the com‐ For motors with an absolute measuring system:
mutation offset
The value of the effective commutation offset (P-0-0521) is directly applied to
"P-0-0508". In the "initial commissioning mode", the manual changes to
"P-0-0521" are also immediately stored in "P-0-0508". If an encoder data
memory is available the changes are also stored in "P-0-3008, Commutation
offset, type plate".
The optimized value immediately takes effect when the motor is switched
back on.
For motors with a relative measuring system:
Depending on the motor and encoder design, the effective commutation off‐
set (P-0-0521) is determined and optimized if the "initial commissioning
mode" has been activated. Afterwards, it should be stored in "P-0-0508", as
explained below. When the motor is recommissioned, the same quality of the
commutation offset can hereby be automatically restored despite relative
measuring system.
● If the reference mark is passed with the "initial commissioning mode"
activated in the case of motors with one reference mark per motor revo‐
lution, the controller stores the value of "P-0-0521", converted to the
mark, in "P-0-0508, Commutation offset". Up to and including FW
19VRS, the "cyclic marker evaluation" has to be activated for this pur‐
pose in "S-0-0277"!
● If the drive passes the dedicated point for homing by executing
"S-0-0148, C0600 Drive-controlled homing procedure command" in the
case of motors with multiple reference marks or none per motor revolu‐
tion or linear motor travel range, and with the "initial commissioning
mode" activated, the controller stores the value of "P-0-0521", converted
to this dedicated point, in "P-0-0508, Commutation offset".
Determining the correction value
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 283/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Measuring method with relative If commutation setting is to be carried out using the measuring method for
measuring system Rexroth linear motors with relative measuring system, the axis limit switch re‐
quired for this purpose, that signals the defined initial position of the axis, is to
be assigned to bit 14 via a digital input. Bit 12 is used to configure the signal
state which is signaled to the controller if the axis limit switch is activated.
See also Functional Description "Commutation setting\Commutation setting
for Rexroth linear motors MLF, MCL".
P-0-0522 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 5
284/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function If the commutation setting for synchronous linear motors with absolute meas‐
uring system should be carried out in a currentless way (can be set in
P-0-0522, Control word for commutation setting), then the defined distance
measure can be entered here.
See Functional Desricption"Synchronous Linear Motors"
min./max.: -214748364,8 /
MPx / PSB: Default value: ---
214748364,7
Product-specific parameters
Function This parameter informs the controller of the type of holding brake and the
way it is controlled.
● Self-releasing or self-holding brake
● Main drive brake or servo brake
● Enabling the "release holding brake" command
Product-specific parameters
0: Not active
Note: The limitations by the thermal models (S-0-0092,
S-0-0082, S-0-0083) are still active!
Product-specific parameters
When the brake test is started, 0 is written to the values of the pa‐
rameter.
Function This parameter displays the currently effective actual holding brake current
which flows through the brake connected to the controller.
Product-specific parameters
Function For asynchronous motors, the gain of the flux loop is entered in this parame‐
ter.
See also Functional Description "Field-Oriented Closed-Loop Current Con‐
trol"
Use In the case of asynchronous motors, the rotor flux is the product of motor
magnetizing inductance and magnetizing current. The rotor flux, however, on‐
ly occurs with a delay via the rotor time constant. The task of the flux loop is
to generate the rotor flux command value as quickly as possible by the corre‐
sponding overshoot of the magnetizing current. The flux-loop was realized as
a P-loop with command value feedforward as is illustrated in the figure below.
The controller output is divided by the current magnetizing inductance, the re‐
sult is the id command value for the current loop. The double nominal mag‐
netizing current is considered to be the limit value for the id command value.
Function The stall current limit is the limit for the torque-generating current of asyn‐
chronous motors.
See also Functional Description "Field-Oriented Closed-Loop Current Con‐
trol"
Use With higher currents the torque at the shaft is reduced. In practical application
this limit is only important in the upper field weakening range when the mag‐
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 289/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
netizing current has very low values. The determining elements of the stall
current limit are the inductances of the equivalent circuit diagram (P-0-4039,
P-0-4040, P-0-4041) and the active rotor flux that is generated in the station‐
ary case from the magnetizing current id.
Function This parameter is only used with asynchronous motors. In asynchronous mo‐
tors, the rotor resistance and therefore the rotor time constant change with
temperature.
See also Functional Description "Field-Oriented Current Control"
Use The rotor time constant is included in the calculation of the load-dependent
slip value that is required for torque output. The rotor time constant that var‐
ies depending on the temperature is compensated by a temperature-depend‐
ent slip increase.
The value of the slip increase (in relation to 100 K temperature difference) is
motor-specific and is individually defined for each asynchronous motor type.
Product-specific parameters
Function
P-0-0532 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: % Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: MDT Comb. check: -- Set-depend.: Grp. 4
Function This parameter is used to enter the proportional gain of the voltage controller.
The voltage controller serves to control the motor voltage in the field weaken‐
ing range.
Product-specific parameters
Function This parameter is used to enter the integral action time of the voltage control‐
ler. The voltage controller serves to control the motor voltage in the field
weakening range.
Function As a matter of principle, this parameter only takes effect in field weakening
mode. It defines a voltage that is indicated in percent of the maximum con‐
verter output voltage.
See also Functional Description "Determining the Parameter Values of Third-
Party Motors"
Use Its function depends on the selected type of motor construction:
1) Asynchronous motor:
The parameter defines the voltage at no load of the motor in field weakening
mode. This voltage is used to precontrol the command value of the rotor flux.
2) Synchronous motor:
The parameter defines the command value of the e.m.f. voltage for accelera‐
tion or deceleration processes in the field weakening range. Under certain cir‐
cumstances, increased torque can be generated by reducing this value in
these cases.
Product-specific parameters
Function This parameter defines the command voltage of the voltage controller. This
voltage is specified in percent of the maximum converter output voltage.
Function This parameter displays the current status of the holding brake.
See also Functional Description "Motor Holding Brake"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 293/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function In this parameter, the nominal torque of the holding brake is to be entered.
This way, the brake is checked at activated motor holding brake monitoring if
no deviating specifications are made in parameters "P-0-0545, Test torque
for releasing holding system" and "P-0-0547, Nominal load of holding sys‐
tem".
For motors with holding brake and encoder data memory (Rexroth drives with
encoder memory), the correct value is automatically written to "P-0-0540".
For motors without encoder data memory, the value has to be entered man‐
ually.
P-0-0540 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: Nm Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 5
Product-specific parameters
The holding torque of the brake is now checked. For this purpose, the brake
is applied by the controller and the holding torque of the brake is generated
by the motor. If the rotor does not move, the brake has the given holding tor‐
que. If the rotor moves (>2 degrees), the message "C2103 Brake torque too
low" is output. The result of the brake check is displayed by 3 bits in
"P-0-0539, Holding brake status word".
See also Functional Description "Motor Holding Brake"
P-0-0541 - Attributes Function: Cmd Editable: OM Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function By means of this parameter, it is possible to release the motor holding brake
when drive enable has been switched off. At the start of the command, the
holding brake is released; upon completion of the command, the brake is ap‐
plied again.
When drive enable is set with the command being active, the holding brake
remains released; when drive enable is switched off, the brake, however, is
automatically applied.
Product-specific parameters
Function By means of this parameter, it is possible to apply the holding brake in com‐
munication phase 4.
See also Functional Description "Motor Holding Brake"
Use At the start of the command, the holding brake is applied. Upon completion of
the command, the brake is released again, if drive enable has been set.
When drive enable is removed with the command being active, the holding
brake remains applied, even if the command is cleared. If drive enable is set
when the command has been set, the brake is nevertheless released.
P-0-0543 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function With this command, a holding brake, which no longer attains its holding tor‐
que, can be resurfaced. For this purpose, drive enable is required. During the
execution of the command, the motor is moved against the applied brake.
See also Functional Description "Motor Holding Brake"
Use After the start of "C3900", the drive is accelerated to 100 min-1 or 100 mm/
min. Active acceleration and deceleration ramps, as well as filters (P-0-1201,
P-0-1202, P-0-1203, P-0-1211, P-0-1213 und P-0-1222) are taken into ac‐
count! After the command velocity has been reached, the brake is applied for
400 ms. After that the drive is shut down by velocity control.
Product-specific parameters
Function The first step of the command "C2100 Command Holding system check"
checks the release of the holding system.
See also Functional Description "Motor Holding Brake"
Use In this parameter you can set a test torque with which the drive is to move
with the holding system released. If no movement is detected when P-0-0545
takes effect, an error message is output and the status "error when releasing
the holding system" is set in "P-0-0539, Holding brake status word". If
"P-0-0545, Test torque for releasing holding system" has been set to "0", the
check is run with the value in "P-0-0540, Torque of holding brake".
P-0-0545 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: + Decim. pl.:
S-0-0094
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The first step of the "C2100 Brake check command" checks the release of
the motor holding brake.
If the load due to weight is not sufficient for the motor to move, a torque is
preset. The torque which results in motion is displayed in this parameter (the
torque due to weight and the force due to weight are not contained in
P-0-0546). The parameter is updated during every brake check.
See also Functional Description "Motor Holding Brake"
P-0-0546 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: -- Decim. pl.:
S-0-0094
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function For monitoring the holding brake (C2100 Brake check command or automati‐
cally, as defined in P-0-0525), the motor generates test torques in order to
check the releasing of the brake or its holding torque.
See also Functional Description "Motor Holding Brake"
Use When the holding torque of the brake is checked, the motor may not move
under the effect of the test torque. Any possibly existing static axis load (e.g.,
weight) is recognized and taken into account.
If "P-0-0547" has been set to 0, the check is run with the value in "P-0-0540,
Torque of holding brake".
The weight load of vertical axes should not exceed 50% of the
nominal holding force of the holding system!
Function To monitor the holding brake (C2100 Brake check command or automatically,
as defined in "P-0-0525"), the motor generates test torques in order to check
the releasing of the brake or its holding torque.
See also Functional Description "Motor holding brake"
Use Using the parameter, it is thus possible to influence the maximum possible
displacement of the axis, for axes having major backlash or major gear ratio.
The value of the parameter refers to the encoder active in position control
(S-0-0520).
If "P-0-0548.0.0" has been set to 0, the check is run with the de‐
fault value of 2 degrees.
Product-specific parameters
Function To monitor the holding brake (C2100 Brake check command or automatically,
as defined in "P-0-0525"), the motor generates test torques in order to check
the releasing of the holding system or the holding torque of the holding sys‐
tem.
See also Functional Description "Motor holding brake"
Use Using the parameter, the speed masking window of the velocity controller is
influenced during the command "P-0-0541, C2100 Holding system check
command". Thereby, an axis having major backlash and/or major gear ratio
can move faster in this range. The value of the parameter refers to the en‐
coder active in position control (S-0-0520).
If "P-0-0548.0.1" has been set to 0, the check is run with the de‐
fault velocity of 10 rpm.
Function To monitor the holding brake (C2100 Brake check command or automatically,
as defined in "P-0-0525"), the motor generates test torques in order to check
the releasing of the holding system.
See also Functional Description "Motor holding brake"
Use With this parameter, set the maximum test duration of the holding system in
the released state. This time consists of "P-0-0548.0.1", and "P-0-0548.0.0"
during the command "P-0-0541, C2100 Holding system check command".
Usually, adjustments are only required for mechanical systems with major
gear ratio and major backlash within the holding system.
Product-specific parameters
Function To monitor the holding brake (C2100 Brake check command or automatically,
as defined in P-0-0525), the motor generates test torques in order to check
the holding system.
See also Functional Description "Motor holding brake"
Use This parameter influences the duration for applying the test torque. The
check of the holding system in the locked state is only considered to have
been passed, if the actual torque greater than or equal to 95% of the test tor‐
que had been applied for the time parameterized here.
P-0-0548.x.3 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: ms Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Summary of the holding system check configuration data structure elements
(P-0-0548.0.0 to P-0-0548.0.3).
P-0-0548.x.130 - Attributes Function: Par Editable: PM Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
4.4.45 P-0-0549, Oper. hours control sec. at last succ. holding system check
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Hardware --
Funct. package(s): CL
Device parameter: axis-specific
Function This parameter displays the point of time of the operating hours counter of
the control section at which the last successful holding system check was
carried out.
The operating hours counter of the control section runs while con‐
trol voltage is applied to the controller!
Product-specific parameters
Function If the holding brake check time interval is activated in P-0-0525, or the safe
braking and holding system has been activated, the value of P-0-0550 is
used for monitoring the time interval to the last successful, drive-side brake
check:
● If the time interval to the last successful brake check approaches the
value of P-0-0550 up to 15 min., the warning "E3115 Prewarning, end of
brake check time interval" is output.
● If the interval exceeds the value of P-0-0550, the error message "F3115
Error, brake check time interval exceeded" is generated.
See also Functional Description "Motor Holding Brake"
P-0-0550 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function In this parameter, the maximum occurring load torque of the axis in standstill
is displayed.
P-0-0551 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: -- Decim. pl.:
S-0-0094
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The holding torque of the brake is checked during the holding brake test in
relation to the nominal load of the holding system and this test torque factor.
As compared with the nominal load, the check should be performed with a
torque that is 30% higher.
The specified test torque is calculated as follows:
302/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
P-0-0547, Nominal load of holding system * P-0-0553, Test torque factor for
brake check
P-0-0553 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The torque maintained by the motor holding brake during the execution of the
command "C2100 Command Holding system check" is entered in this param‐
eter; as a maximum the test torque, independent of whether the check was
successful or not. After a failed brake check and the resulting resurfacing pro‐
cedure, the value should be taken as the basis for improving the holding tor‐
que of the brake.
See also Functional Description "Motor Holding Brake"
P-0-0554 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: -- Decim. pl.:
S-0-0094
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Bits 11 and 12 are set when the output variable of the velocity
loop is limited by "S-0-0082, Torque/force limit value positive" or
"S-0-0083, Torque/force limit value negative" or "S-0-0092, Bipo‐
lar torque/force limit value".
Function The parameter is used for configuring functions specific to axis control and
setting the control performance.
See also functional description "Axis control (closed-loop operation)"
See also functional description "Performance data"
Structure The individual bits of the parameter have the following meaning:
304/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
0 Fine interpolator As of
0: On - fine interpolation of the velocity command value MPx-17VRS
can be activated if necessary.
1: Off - (default configuration)
Disabling monitoring is not recommended. This should on‐
ly be done in case of emergency (e.g., in case of highly
non-linear gears).
1 Velocity control loop monitoring (F8078)
0: On (default configuration)
1: Off
2 Control loop performance setting for IndraDrive Cs devi‐ Up to
ces (HCS01.1) MPx-17VRS
0: Basic: Moderate control loop cycle times - moderate
control performance
1: Advanced: Short control loop cycle times - high control
performance
Exception: IndraDrive Cs Economy, only offers Economy
control loop performance. Bit 2 does not need to be con‐
figured.
5/2 Control loop performance setting As of
00 Basic: Moderate control loop cycle times - moderate MPx-18VRS
control performance
01 Advanced: Short control loop cycle times - high control
performance
10 Economy: Longest control loop cycle times - low con‐
trol performance
11: Not possible
Exceptions:
● Basic and Advanced control loop performance are
only possible with MPB and MPC firmware compo‐
nents.
● Economy control loop performance is only possible
with the MPE firmware component.
● Basic control loop performance is only possible with
the MPM firmware component.
Which performance settings are available depends on the
firmware and the device.
See also functional description "Control section design
and performance"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 305/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function This parameter is used as control word for the drive halt function.
See also functional description "Drive halt"
308/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
0 E motor (rotary)
1 E motor (linear)
4 E motor pump hydraulic cylinder (Sytronix) (as actuator, a
motor controlled by a controller is applied, potentially non-
linear behavior of the actuator path)
5 E motor pump hydraulic motor (Sytronix) (as actuator, a
motor controlled by a controller is applied, potentially non-
linear behavior of the actuator path)
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 309/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Use
With the Sytronix functional package, the actuator types (4, 5) are
released.
For simple actuators (0, 1) without Sytronix functional package, the actuator
type is permanently coupled to the motor type (P-0-4014; bit 9).
For simple actuators (0, 1) with Sytronix functional package, the actuator type
is checked according to the motor type.
For complex actuators (4, 5), the motor encoder is uncoupled from the me‐
chanical axis system.
● The motor encoder is independent with its own actual velocity motor
(P-0-0112)
● For motor data, an independent scaling applies (Sercos default)
● The velocity controller refers to the motor encoder and provides
"P-0-0561, Effective velocity controller command value"
● Coupling to the position controller is realized via "P-0-0562, Active in‐
feed/gear factor"
● Position control can still be realized using encoder 1 or encoder 2
● Acceleration feedforward (S-0-0348) is inactive
P-0-0560 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: + Set-depend.: --
Function With this parameter, the effective velocity command value of the velocity con‐
troller can be displayed. The command value is motor-related with fixed scal‐
ing (Sercos default).
Product-specific parameters
Function The active infeed/gear factor is applied for controller output adjustment. For
complex actuators (P-0-0560), "uncoupled motor encoder", it defines the con‐
nection between drive control and motor control.
With the reciprocal value of the factor, the velocity command val‐
ue (P-0-0048) is converted into the velocity controller command
value (P-0-0561).
Function The parameter displays the velocity command value that is transferred to the
velocity controller for command value adjustment.
See also functional description "Velocity controller"
P-0-0563 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: -- Decim. pl.:
S-0-0046
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function With a "complex actuator", the parameter limits the acceleration in a motor-
related way.
The velocity command value for the complex actuator (E-motor-Pump) is limi‐
ted to a motor-related value (Sytronix).
See also Functional Description "Velocity controller"
See also parameter description "P-0-0560, Configuration of actuator"
P-0-0564 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: P-0-4014 Extr. val. ch.: + Decim. pl.: P-0-4014
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Command C3600 provides several options of data identification and/or plau‐
sibility test of the connected motor.
The following options can be selected via "P-0-0601, Configuration motor da‐
ta identification":
● Motor data identification with the motor at standstill or put into motion
(as of MPx-16VRS)
● Determination of the characteristic magnetization curve of asynchronous
motors (as of MPx-16VRS)
● Plausibility test of motor and encoder data (as of MPx-17VRS)
● Rotational direction test of motor and encoder (as of MPx-17VRS)
Function When this command is executed, the required motor control parameters are
calculated from the motor parameters.
See also Functional Description "Automatic Setting of Motor Control"
P-0-0566 - Attributes Function: Cmd Editable: OM Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter can be used to raise the voltage at the base point of the U/f
characteristic (in case of standstill or very low velocities of an asynchronous
motor). The voltage required at the base point is determined on the basis of
the motor data and provided by the controller.
Use Due to long motor lines, for example, starting problems can sometimes occur
for motors. In this case, this parameter can be used to improve the starting
behavior by a value greater than 0 V.
If the current at standstill is too high, it can be reduced by setting negative
values in "P-0-0568".
P-0-0568 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: V Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Function This parameter contains the maximum frequency command value slope of
the motor voltage
Use U/f operation
When encoderless asynchronous motors are operated in voltage-controlled
mode (U/f), "P-0-0569" is used to specify the maximum frequency command
value slope. The value is automatically determined via the command for cal‐
culating the motor parameters of third-party motors (C3200 and C3600). If
the stall protection controller responds during power-up, the value of
P-0-0569 is possibly too high and should be reduced.
FXC operation
This parameter is irrelevant (inactive) in encoderless flux-controlled motor op‐
eration mode (FXC). Here, the maximum stator frequency slope can be ad‐
justed via the inertia parameters.
Motor data identification, with motion (C3600)
When motor data identification with motion is selected (configuration via
P-0-0601), the motor shaft is accelerated to half the nominal speed within
one second. If the motor torque or load inertia is high, this may exceed the
acceleration capacity of the motor or drive. In such a case, the acceleration
command value can be reduced to a compatible value via P-0-0569.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 313/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter presets the P-gain of the stall protection loop.
The enable signal of the stall protection loop is controlled via bit 12 in
"P-0-0045, Control word of current controller".
P-0-0570 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: % Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Function By means of this parameter it is possible to set the integral action time of the
stall protection loop.
The enable signal of the stall protection loop is controlled via a bit in
"P-0-0045, Control word of current controller".
P-0-0571 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: ms Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Product-specific parameters
Function By means of this parameter it is possible to trim the slip compensation feed‐
forward. With the setting 0.00% the feedforward is switched off completely.
P-0-0572 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: % Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Function By means of this parameter it is possible to trim the feedforward of the IxR
boost. With the setting 0.00% the feedforward is switched off completely.
P-0-0573 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: % Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Function By means of this parameter it is possible to trim the oscillation damping feed‐
forward. With the setting 0.00% the feedforward is switched off completely.
P-0-0574 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: % Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Product-specific parameters
Function Via P-0-0045, Control word of current controller the search mode function
can be selected. During the search process a search current is generated in
the still turning machine that is to be searched.
Search current = magnetizing current * P-0-0575 / 100%
P-0-0575 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: % Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 5
Function The search mode function is selected via "P-0-0045, Control word of current
controller". As soon as the machine has been found the rated slip is added to
the speed at the "finding point". 100% are corresponding to the rated slip of
the machine.
With clockwise rotating field: V = Vfinding point + (Vslip * P-0-0576 / 100%)
With anti-clockwise rotat. field: V = Vfinding point - (Vslip * P-0-0576 / 100%)
P-0-0576 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: % Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 5
Function The square characteristic is selected via "P-0-0045, Control word of current
controller". The degree of lowering in the basic range of setting is trimmed
with this parameter.
The value of 100% corresponds to the original square curve. When the per‐
centage value becomes lower, this lowering factor is reduced until the setting
0% has been reached which corresponds to the linear characteristic.
P-0-0577 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: % Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Product-specific parameters
Function The current for deceleration, with which the asynchronous motor is deceler‐
ated up to standstill in U/f operation or FXC operation, is entered in this pa‐
rameter. When determining the motor parameters via "P-0-0565, C3600
Command Motor data identification", the value is automatically set to the rat‐
ed current of the motor.
See also Functional Description "Voltage-Controlled Operation (Open-Loop
U/f Control)"
See also Functional Description "Sensorless Motor Operation, Flux-Control‐
led"
Use The current for deceleration (P-0-0578) only takes effect in U/f operation or
FXC operation of asynchronous to stop the motor.
U/f operation
In U/f operation, the current for deceleration can be deactivated by inputting
zero in "P-0-0579, Current for deceleration, time period". This means that the
motor is only stopped by U/f operation. The stopping, however, normally is
improved by the activation of P-0-0578 by P-0-0579 unequal zero! P-0-0578
can be changed by value input, the minimum value is "P-0-4004, Magnetizing
current".
FXC operation
In FXC operation it is impossible to deactivate the current for deceleration!
When the value "0" is entered in "P-0-0579, Current for deceleration, time pe‐
riod", only the generated current is reduced, immediately after the detection
of stopping (by means of calculation), from the value of P-0-0578 to
"P-0-4004, Magnetizing current" * "P-0-0532, Premagnetization factor". By
P-0-0579 unequal zero, the current for deceleration can be maintained be‐
yond the (calculated) motor standstill.
See also Parameter Description "P-0-0579, Current for deceleration, time pe‐
riod"
P-0-0578 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_MV
Unit: A Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Function In this parameter, the time is entered for which the current for deceleration
(P-0-0579) is implanted in the asynchronous motor in U/f or FXC operation.
See also Functional Description "Voltage-Controlled Open-Loop Operation
(V/Hz [U/f] Control)"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 317/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This is a display parameter for motor control in all operation modes.
It has one decimal place and displays the motor frequency with sign.
P-0-0580 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Hz Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter only takes effect in conjunction with "field-oriented current
control" without encoder. Together with "P-0-0591, Motor model frequency
controller integral action time", it is used to parameterize the "frequency con‐
troller".
Based on the differences between motor model and measured currents, the
frequency controller determines the current rotational frequency of the motor
shaft. The output of the frequency controller supplies parameter "S-0-0040,
Velocity feedback value" and is accordingly transmitted to the velocity con‐
troller.
Function This parameter only takes effect in conjunction with field-oriented current
control without encoder. Together with "P-0-0590, Frequency controller pro‐
portional gain", it is used to parameterize the frequency controller.
Based on the differences between motor model and measured currents, the
frequency controller determines the current rotational frequency of the motor
shaft. The output of the frequency controller supplies parameter "S-0-0040,
Velocity feedback value" and is accordingly transmitted to the velocity con‐
troller.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 319/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter only takes effect in conjunction with field-oriented current
control without encoder.
The drive-internal motor model calculation specified in the current controller
cycle is corrected according to the adjustment factor entered in "P-0-0592" in
such a way that the motor currents and the rotor flux determined according to
the motor model comply with the real values.
Product-specific parameters
Function Parameter for the proportional gain of the flux control loop in "sensorless mo‐
tor operation, flux-controlled". It is not necessary to adjust this value to the
specific motor.
See also Functional Description "Sensorless Motor Operation, Flux-Control‐
led"
P-0-0593 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: 1/HENRY Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Function Parameter for the integral action time of the flux loop of sensorless, flux-con‐
trolled motor operation. The value should be checked and adjusted in motor-
specific form. What is helpful is a run-up test with ramp-shaped velocity com‐
mand value in approx. 2 s to 75% of the rated speed. The total current
P-0-0440 should rapidly fall to a stationary value after the command value
change has been started. To make the value of P-0-0440 fall more rapidly,
reduce the value of P-0-0594.
See also Functional Description "Sensorless Motor Operation, Flux-Control‐
led".
P-0-0594 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: ms Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Product-specific parameters
Product-specific parameters
Function Parameter for the proportional gain of the current loop of sensorless, flux-
controlled motor operation.
It is not necessary to adjust the value in motor-specific form. However, if
overcurrent ("F8060 Overcurrent in power section") occurs during accelera‐
tion out of standstill, the value of P-0-0597 should be reduced (e.g. half the
value).
See also Functional Description "Sensorless Motor Operation, Flux-Control‐
led"
P-0-0597 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: % Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Function Parameter for the integral action time of the current loop of sensorless, flux-
controlled motor operation.
It is not necessary to adjust the value in motor-specific form. However, if os‐
cillation of the motor current (P-0-0440) occurs under load, you should first of
all try to attenuate the oscillation by increasing the value of P-0-0598.
See also Functional Description "Sensorless Motor Operation, Flux-Control‐
led"
P-0-0598 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: ms Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 4
Product-specific parameters
Product-specific parameters
Function The parameters configures the method for determining the motor parameters
and motor control parameters of third-party motors when "P-0-0565, C3600
Command Motor data identification" is executed.
See also Functional Description "Sensorless motor operation, flux-controlled"
See also Functional Description "Determining the parameter values of third-
party motors"
Structure
Bit Designation/function Comment
1/0 00: Motor data identification (C3600) when motor is in FW 16VRS
standstill (default)
01: Motor data identification (C3600) when motor shaft is
rotating (rotary motor only)
10: Determining the magnetization characteristic of asyn‐
chronous motors when motor shaft is rotating (rotary mo‐
tor only)
2/1/0 000: Motor data identification (C3600) when motor is in From FW
standstill (default) 17VRS to FW
001: Motor data identification (C3600) when motor shaft 19VRS
is rotating (rotary motor only)
010: Determining the magnetization characteristic of
asynchronous motors when motor shaft is rotating (rotary
motor only)
011: Validation check of number of pole pairs or pole pair
distance and encoder resolution or encoder division peri‐
od, in the case of motion over two revolutions of the mo‐
tor shaft or two pole pairs (including rotational direction
check of motor and encoder).
100: Rotational direction check of motor and encoder
(motion over approx. half a pole pair)
101; 110; 111: Combinations not allowed
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 325/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
3/2/1/0 0011: Validation check of number of pole pairs or pole FW 20VRS and
pair distance and encoder resolution or encoder division above
period, in the case of motion over two revolutions of the
motor shaft or two pole pairs (including rotational direc‐
tion check of motor and encoder).
1100: Direction of motion of motor displayed (moves as
long as control button is pressed)
0101;0110; 0111: Combinations not allowed
4 Direction of motion for motor data identification (C3600) FW 20VRS and
with rotating motor shaft (rotary motor only) above
0: Not inverted
1: Inverted
Tab. 4-112: Aspects for configuring the command C3600 (for asynchronous mo‐
tors only)
Product-specific parameters
Tab. 4-113: Aspects for configuring the command C3600, regarding asynchro‐
nous and synchronous motors
Accelerating in the case of motor data identification with motion
In the case of motor data identification with motion, the motor shaft is acceler‐
ated to half the nominal speed in one second. This can exceed the accelera‐
tion capacity of the motor or drive if the motor or load inertia is high. In such
cases, the current of the motor can no longer be maintained at an efficient
and stable level and the procedure is repeated with half the previous acceler‐
ation. The repetitions can become noticeable by jerky movements and the
corresponding rotor noise.
Product-specific parameters
Tab. 4-114: Aspects for configuring the command C3600, regarding asynchro‐
nous and synchronous motors
Bit 4: Accelerating in the case of motor data identification with motion
The rotor’s direction of motion is inverted if bit 4 has been set. In the case of
motor data identification with motion, the motor shaft is accelerated to half the
nominal speed in one second. This can exceed the acceleration capacity of
the motor or drive if the motor or load inertia is high. In such cases, the cur‐
rent of the motor can no longer be maintained at an efficient and stable level,
and the procedure is repeated with half the previous acceleration. The repeti‐
tions can become noticeable by jerky movements and the corresponding ro‐
tor noise.
328/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter sets the minimum value of the no-load current for FXC opera‐
tion of sensorless synchronous motors (flux-generating current, "wattless cur‐
rent"). The sign causes different behavior of the intensity of the no-load cur‐
rent:
● With positive sign, "P-0-0602" takes full effect.
● With negative sign, the current at motor revolution is reduced to 0.1 *
"S-0-0111, Motor current at standstill" (plus current due to friction tor‐
que). At motor standstill, "P-0-0602" takes full effect.
Use
The no-load current of the synchronous motor determines its load behavior
and the motor temperature rise at no load:
● At motor revolution, the load impulse resistance rises as the no-load
current is increased. The input is limited to 75% of "S-0-0111, Motor cur‐
rent at standstill".
● The motor standstill is improved as the no-load current is increased. The
deceleration itself, however, is realized via "P-0-0578, Current for decel‐
eration, absolute value" and "P-0-0579, Current for deceleration, time
period".
● The no-load current improves the load impulse resistance and the motor
standstill, but causes the motor temperature to rise, even if the motor
has not been loaded. If the operating behavior allows this, the motor
temperature rise can be minimized:
– By reducing the no-load current via P-0-0532 (e.g., 50%) at motor
standstill
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 329/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function "P-0-0603" is the FXC display parameter for the torque proportion or force-
generating proportion of the current command value of the motor model.
The velocity controller generates the torque or force command value that is
then converted via "P-0-0051" to the torque-generating current command val‐
ue. The value is updated during the velocity controller cycle time (250 µs/
125 µs controller performance).
See also functional description "Torque/force control"
P-0-0603 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: A Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function FXC display parameter for the proportion of the current command value gen‐
erating the magnetic flux in the motor.
The flux-generating current is the output of the flux controller adjusted in the
position controller cycle time. For asynchronous motors, the flux-generating
current nominally corresponds to "P-0-4004, Magnetizing current".
Deviating from this value, the flux-generating current command value is re‐
duced if:
● "P-0-0532" has been selected lower than 100% and the motor is operat‐
ed in standstill
● the motor is operated in the field weakening range.
For synchronous motors, a positive flux-generating current is required for the
FXC method. Its minimum value is specified in "P-0-0602, Minimum no-load
current". During field weakening operation, the controller applies a negative
flux-generating current to weaken the permanent field!
330/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function FXC display parameter for the torque-generating proportion of the measured
actual current value. The value is updated during the current controller cycle
time.
Function FXC display parameter for the proportion of the measured current command
value generating the magnetic flux in the motor. The value is updated during
the current controller cycle time.
Function FXC display parameters for the total current command value. It consists of
the geometrical addition of parameters P-0-0603 and P-0-0604.
Product-specific parameters
Function The velocity controller for controlled deceleration in case of encoder defect
calculates the control circuit deviation (S-0-0347, Velocity error) from the dif‐
ference of "P-0-0048, Effective velocity command value" and "S-0-0535, Ac‐
tive velocity feedback value". The control circuit deviation multiplied by the
velocity controller proportional gain (P-0-0608) results in the torque/force
command value (P-0-0049).
The parameter defines the proportional gain factor for this PI controller.
The parameter is only effective for controlled deceleration after a defect of
the motor encoder. For Rexroth motors with encoder data memory, the value
is set to the value of "S-0-0100".
P-0-0608 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: Nm/(rad/s) Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 2
Function The velocity controller for controlled deceleration in case of encoder defect
calculates the control circuit deviation (S-0-0347, Velocity error) from the dif‐
ference of "P-0-0048, Effective velocity command value" and "S-0-0535, Ac‐
tive velocity feedback value". The control circuit deviation multiplied by the
velocity controller integral action time (P-0-0609) results in the torque/force
command value (P-0-0049).
The parameter defines the integral action time for this PI controller.
The parameter is only effective for controlled deceleration after a defect of
the motor encoder. For Rexroth motors with encoder data memory, the value
is set to the value of "S-0-0101".
P-0-0609 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: ms Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 2
Product-specific parameters
Function "Bit 0" of "P-0-0610" is used to set the cyclic calculation of the total current
rms value. The result is shown in "P-0-0611".
Function If bit 0 of parameter "P-0-0610" is set, the rms value of the total current is cal‐
culated cyclically and output to "P-0-0611" for being displayed. Otherwise,
the display shows the value previously output.
P-0-0611 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: A Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The motors of the MSK und MSM lines can be operated in different cooling
types. Depending on the particular motor type, cooling can be implemented
as follows:
● Standard cooling (natural convection, non-ventilated)
● Surface ventilation
● Liquid Cooling
● Cooling with additional heat supply or heat discharge
See also Functional Description "Motor, Mechanical Axis System, Measuring
Systems", "Current and Torque/Force Limitation"
Use Depending on realized the cooling type, the motor can carry different continu‐
ous currents. The characteristic continuous current of the above motors, how‐
ever, is the one the motor can continuously carry with its standard cooling
type (natural convection). It is stored in parameter "P-0-2111, Motor current
at standstill, encoder memory" for the particular motor type and, along with
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 333/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
other motor parameters, is loaded to the controller when the drive is switched
on (P-0-2111 -> S-0-0111, Motor current at standstill).
This parameter has to be set to the realized cooling type. As a result:
● the 100% reference of the motor work load is adjusted to the realized
cooling type,
● the thermal time constant of the motor effective in the motor tempera‐
ture model is determined by means of the value of "P-0-4035, Thermal
time constant of motor" (refers to standard cooling),
● the allowed continuous current, to which the firmware-internal motor
temperature model limits, is determined. (S-0-0111, Motor current at
standstill * cooling type factor).
The default value for "P-0-0640" is "0" which means that the refer‐
ence value is initially set to the standard cooling type of the motor.
For motors other than MSK and MSM, the only allowed value is
"0"!
4.4.95 P-0-0641, Interpolation cmd value average value filter time constant
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Hardware --
Funct. package(s): CL
Device parameter: axis-specific
Function The parameter P-0-0641 takes effect on the filtering of the position command
values with a moving average filter (see also command value adjustment of
334/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Parameter for entering the frequency of the anti-vibration filter. The anti-vibra‐
tion filter is deactivated with a value of "0".
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function
The functional principle of the parameter is documented only in‐
ternally. Changes or evaluations are reserved to customer sup‐
port.
Function At the "IndraDrive ML" drive family, individual components like one or several
power sections (HMU) and the mains connection component (HNA) are inclu‐
ded in one complete device.
When the control voltage is activated, the components are queried by the
firmware. If the number of power sections or mains connection components
has changed since last activation, error "F8835 Inconsistency in power
section configuration" is returned.
If error F8835 occurs, the complete device has to be checked. If all required
components are available, the currently recognized configuration of the com‐
plete device has to be acknowledged with command C9100.
P-0-0661 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Command "C6800" is used to determine the device data archiving status.
The status is stored in parameter "P-0-0669, Device data archiving, status"
and can be read from this parameter after the command has been executed.
Product-specific parameters
Function Command "C6500" is used to transfer the "device data to be backed up" from
the active non-volatile memory (flash) to a machine archive. Device data
comprise the data required for restoring a drive configuration (operating data
including MLD application and firmware). The machine archive is structured
and filed under "Backup\Axis.." in multiple files on the SD card. The device
data are restored manually using command C6600.
On Advanced control sections (MPC), the files are structured and archived in
a file "Backup\Archive\Backup.zip" to provide easy access to the machine ar‐
chive.
The sequence of the command is recorded in the file "Backup\Backup.log". In
case of any command errors, the file provides additional information on the
error source.
Archiving also includes the device data of the CCD slaves where
cross-communication (CCD) is applicable. When CCD slaves ex‐
ist, execution of the command can take several minutes.
Function Command "C6600" is used to restore the device data to be backed up from
the machine archive. Device data comprise the data required for restoring a
drive configuration (operating data including MLD application and firmware).
This requires that command C6500 has been used at least once to create a
machine archive. The machine archive is structured and filed under "Backup
\Axis.." in multiple files on the SD card.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 341/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
On Advanced control sections (MPC), the files are structured and archived in
a file "Backup\Archive\Backup.zip" to provide easy access to the machine ar‐
chive.
This command fails if no machine archive is available.
As of MPx-20VRS: The sequence of the command is recorded in the file
"Backup\Restore.log". In case of any command errors, the file provides addi‐
tional information on the error source.
Up to MPx-19VRS: The sequence of the command is recorded in the file
"Backup\Backup.log". In case of any command errors, the file provides addi‐
tional information on the error source.
Restoring also includes the device data of the CCD slaves where
cross-communication (CCD) is applicable. When CCD slaves ex‐
ist, execution of the command can take several minutes.
Product-specific parameters
NOTICE as of MPx-20V06:
Property damage caused by changed wiring
of the sercos nodes!
For restoration of the saved device data, wiring of the CCD group has to
comply with the wiring during archiving of the device data. This applies to the
order of the CCD slaves in the CCD ring or in the line as well as to the selec‐
ted sercos port in the CCD master the drives are connected to.
Function Command "C6700" is used to update the device data to be backed up. De‐
vice data comprises the data required for restoring a drive configuration (ope‐
rating data including MLD application and firmware).
The update is to be provided on the SD card:
1. As update archive in the "User\Update\Archiv" directory. An update ar‐
chive is a machine archive containing all device data or only a partial
quantity of a machine archive. The update archive requires file type
"*.zip" and is only recognized by an Advanced control section (MPC).
2. As individual device data files in the "User\Update\Axis..." directory. In
this case, a device data file is a file unpacked from a machine archive.
As the content is not checked, parameter and firmware files can also
provided from different sources. Only the file structure (directory and file
names) has to be observed. Individual files are only considered if no up‐
date archive was provided.
As of MPx-20VRS: The sequence of the command is recorded in the file
"User\Update\Update.log". In case of any command errors, the file provides
additional information on the error source.
Up to MPx-19VRS: The sequence of the command is recorded in the file
"Backup\Backup.log". In case of any command errors, the file provides addi‐
tional information on the error source.
To prevent the retain data of the MLD becoming invalid during up‐
date of a MLD boot project, it is only loaded into the program
memory if update data are also available for the retain data.
These are to be provided as "Retain_MLD?.par" file. It has to be
ensured that the retain data comply with the MLD boot project.
Update also includes the device data of the CCD slaves where
cross-communication (CCD) is applicable. When CCD slaves ex‐
ist, execution of the command can take several minutes.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 343/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
NOTICE as of MPx-20V06:
Property damage caused by changed wiring
of the sercos nodes!
For restoration of the saved device data, wiring of the CCD group has to
comply with the wiring during archiving of the device data. This applies to the
order of the CCD slaves in the CCD ring or in the line as well as to the selec‐
ted sercos port in the CCD master the drives are connected to.
Product-specific parameters
Function This parameter shows the current device data archiving status.
Device data archiving using command C6500 is used to transfer the "device
data to be backed up" from the active non-volatile memory (flash) to a ma‐
chine archive. Device data comprise the data required for restoring a drive
configuration (operating data including MLD application and firmware). The
machine archive is structured and filed under "Backup\Axis.." in multiple files
on the SD card. The device data are restored manually using command
C6600.
On Advanced control sections (MPC), the files are structured and archived in
a file "Backup\Archive\Backup.zip" to provide easy access to the machine ar‐
chive.
Structure
The status is updated internal during initialization (booting) and by
executing a device data archiving command. To update only the
status, command C6800 is to be executed.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 345/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function This list parameter serves to configure the menu structure for the editable
"Quick Setup" parameters. 12 list elements result in one data set. The maxi‐
mum number of data sets that can be configured is 32.
Product-specific parameters
Example:
Configuration
Product-specific parameters
Dummy 1 0 0x00000000
Dummy 2 0 0x00000000
Function This list parameter serves to configure the menu structure for the displayable
"Actual Values" parameters. 10 list elements result in one data set. The maxi‐
mum number of data sets that can be configured is 32.
Product-specific parameters
Example:
Connection setup
Function Maximum position change (=velocity) with which "S-0-0048, Additive position
command value" is added to the synchronous position command value of the
slave axis.
Product-specific parameters
Function Maximum velocity change (=acceleration) with which "S-0-0048, Additive po‐
sition command value" is added to the synchronous position command value
of the slave axis.
See also Functional Description "Synchronization Modes"
See also Parameter Description "P-0-0686, Additive position command val‐
ue, positioning velocity"
P-0-0687 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0161 /
Unit: S-0-0160 Extr. val. ch.: + Decim. pl.:
S-0-0162
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function Maximum position change (=velocity) with which "P-0-0054, Additive master
axis position" is added to the master axis angle.
Product-specific parameters
Product-specific parameters
Function Apart from "P-0-0059", the parameter "P-0-0691" is used to add a position
command value.
Product-specific parameters
Function The value specified for "P-0-0692" is smoothed with a 1st order filter and then
added to the sum of "P-0-0054, Additive master axis position" and "P-0-0053,
Master axis position" or "P-0-0052, Actual position value of measuring encod‐
er".
The time constant of the filter is defined with parameter "P-0-0693".
See also Functional Description "Control Loop Structure"
See also Functional Description "Synchronization Modes"
Use Observe the following aspects for parameterizing "P-0-0692":
● The maximum value (modulo value) of "P-0-0692" is determined by the
master axis cycle.
● The master axis cycle is the product of "P-0-0750, Master axis revolu‐
tions per master axis cycle", with 2P-0-0084.
● Approximation to a new value always takes place over the shortest dis‐
tance.
P-0-0692 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
min./max.: -2147483648 /
MPx / PSB: Default value: ---
2147483647
4.5.4 P-0-0693, Filter time constant, add. master axis pos., process loop
Allocation Contained in 16VRS: «MPB» «-» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware --
Funct. package(s): SNC
Device parameter: axis-specific
Function This parameter determines the time constant of a 1st order filter. This filter is
used to smooth "P-0-0692, Additive master axis position, process loop".
See also Functional Description "Synchronization Modes"
P-0-0693 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: ms Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
4.5.7 P-0-0696, Filter time constant, angle offset profile, process loop
Allocation Contained in 16VRS: «MPB» «-» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware --
Funct. package(s): CL+SNC
Device parameter: axis-specific
Function This parameter determines the time constant of a 1st order filter. This filter is
used to smooth "P-0-0692, Additive master axis position, process loop".
See also Functional Description "Synchronization"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 355/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter takes effect when single-step synchronization (bit 6 = 1) has
been set in "P-0-0155, Synchronization mode". It defines the master axis po‐
sition at which synchronism is to have been established.
See also Functional Description "Basic Functions of the Synchronization
Modes"
Use After a synchronization mode has been activated, synchronization starts the
next time "P-0-0776, Effective master axis position" passes the master axis
start position. The master axis start position is calculated in the following way:
Function This parameter takes effect when single-step synchronization (bit 6 = 1) has
been set in "P-0-0155, Synchronization mode". It defines the distance within
which synchronism is to have been established.
See also Functional Description "Basic Functions of the Synchronization
Modes"
356/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function While the "MotionProfile" mode is active, changes in the sequence of motion
can be made in the second, inactive data set. The parameter defines the po‐
sition at which switching to the selected inactive set takes place.
See also Functional Description: "MotionProfile With Real/Virtual Master Ax‐
is"
Use The active set is selected with "P-0-0088, Control word synchronization
modes", bit 9. When all changes have been parameterized and the "profile
check" for the inactive set has been successfully carried out, it is possible to
switch to this set.
Switching takes place when "P-0-0227, Cam table, access angle" passes the
switch angle set in this parameter. Switching is acknowledged with bit 3 of
"P-0-0089, Status word synchronization modes". After switching has taken
place, the bits of status word and control word are identical.
P-0-0700 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: Deg Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This parameter takes effect if absolute position processing of the motion pro‐
file has been set in bit 10 of "P-0-0088, Control word synchronization modes".
After synchronization, the position command value generated in the "elec‐
tronic motion profile" mode corresponds to the position set in this parameter,
when "P-0-0227, Cam table, access angle" is zero, i.e. at the beginning of the
1st motion step.
Product-specific parameters
Function A validation check is carried out for the sequence of motion parameterized for
the "MotionProfile" mode in set 0.
If one of the checks results in discrepancy, a number is displayed in this pa‐
rameter. The cause of the discrepancy can be taken from this number. For
the significances of the numbers, see the diagnostic message "F2004 Error
in MotionProfile".
See also Functional Description "Motion Profile With Real/Virtual Master Ax‐
is"
P-0-0702 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter determines, for block 0 of "MotionProfile" mode, of how many
motion steps the sequence of motion consists which is processed per master
axis revolution.
Up to MPx-17VRS: If relative actual position value reference has been set
(P-0-0088, Control word synchronization modes, bit 10 = 1), the sequence of
motion must consist of at least two steps.
See also Functional Description "MotionProfile With Real/Virtual Master Axis"
P-0-0703 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter specifies at which constant velocity the master axis moves
when set 0 of the "MotionProfile" mode is active.
See also Functional Description "MotionProfile With Real/Virtual Master Axis"
Use Indicating the master axis velocity is necessary when a motion step is used
for which the slave axis velocity is determined (standard profile rest in veloci‐
ty, velocity in velocity or velocity in rest). The given value must refer to the
output of the electronic gear.
P-0-0704 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: 1/min Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This parameter determines, for set 0 of the "MotionProfile" mode, at which
master axis positions (or table access angles) the motion steps begin.
See also Functional Description "MotionProfile With Real/Virtual Master Axis"
Use Setting is such that motion step 1 begins at master axis initial position "0".
The first element of this list must therefore be "zero". This list must have at
least as many elements as set 0 has motion steps (P-0-0703).
P-0-0705 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: Deg Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This parameter determines, for set 0 of the "MotionProfile" mode, which prop‐
erties the individual motion steps have.
See also Functional Description: "MotionProfile With Real/Virtual Master Ax‐
is"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 359/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This list determines, for set 0 of the "MotionProfile" mode, which distances
are traveled in the individual motion steps.
See also Functional Description "MotionProfile With Real/Virtual Master Axis"
360/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Use If a standard profile and not a cam table has been selected in the motion
step, the distance determines the path which is traveled in the corresponding
step. If a cam table has been selected, the traveled path results from the
product of distance and last value of the table.
If absolute position processing has been set for this operation mode, the sum
of distances of the involved motion steps must be "0" or a multiple of the
modulo value.
This list must have at least as many elements as set 0 has motion steps
(P-0-0703).
P-0-0707 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This list determines, for set 0 of the "MotionProfile" mode, which slave axis
velocities occur in the individual motion steps at the beginning or at the end.
See also Functional Description "MotionProfile With Real/Virtual Master Axis"
Use Indicating the slave axis velocity is necessary when one of the standard pro‐
files R-V (Rest in Velocity), V-R (Velocity in Rest) or V-V (Velocity in Velocity)
has been selected in the motion step.
Taking master axis range, distance and parameterized master axis velocity
(P-0-0704) into account, the coefficients of the 5th order polynomial are cal‐
culated in such a way that the parameterized velocity results at the slave axis
at the end (for R-V) or at the beginning (for V-R and V-V) of the motion step.
If constant velocity has been selected in the mode of a step, the slave axis
velocity resulting from the values of master axis range, distance and parame‐
terized master axis velocity is calculated and displayed in the respective list
element.
This list must have at least as many elements as set 0 has motion steps
(P-0-0703).
P-0-0708 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: + Decim. pl.:
S-0-0046
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function A validation check is carried out for the sequence of motion parameterized for
the "MotionProfile" mode in set 1.
If one of the checks results in discrepancy, a number is displayed in this pa‐
rameter. The cause of the discrepancy can be taken from this number.
See Diagnostic Description "F2004 Error in MotionProfile "
See also Functional Description "Motion Profile With Real/Virtual Master Ax‐
is"
P-0-0709 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter determines, for block 1 of "MotionProfile" mode, of how many
motion steps the sequence of motion consists which is processed per master
axis revolution.
Up to MPx-17VRS: If relative actual position value reference has been set
(P-0-0088, Control word synchronization modes, bit 10 = 1), the sequence of
motion must consist of at least two steps.
See also Functional Description "MotionProfile With Real/Virtual Master Axis"
P-0-0710 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This parameter specifies at which constant velocity the master axis moves
when set 1 of the "MotionProfile" mode is active.
See also Functional Description "MotionProfile With Real/Virtual Master Axis"
Use Indicating the master axis velocity is necessary when a motion step is used
for which the slave axis velocity is determined (standard profile rest in veloci‐
ty, velocity in velocity or velocity in rest). The given value must refer to the
output of the electronic gear.
P-0-0711 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: 1/min Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
362/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter determines, for set 1 of the "MotionProfile" mode, at which
master axis positions (or table access angles) the motion steps begin.
See also Functional Description "MotionProfile With Real/Virtual Master Axis"
Use Setting is such that motion step 1 begins at master axis initial position "0".
The first element of this list must therefor be "zero".
This list must have at least as many elements as set 1 has motion steps
(P-0-0710).
P-0-0712 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: Deg Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This parameter determines, for set 1 of the "MotionProfile" mode, which prop‐
erties the individual motion steps have.
See also Functional Description "Motion Profile With Real/Virtual Master Ax‐
is"
This list must have at least as many elements as set 1 has motion steps
(P-0-0710).
See Parameter Description "P-0-0706, List of motion laws, set 0"
P-0-0713 - Attributes Function: Par Editable: ++ Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: BIN
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This list determines, for set 1 of the "MotionProfile" mode, which distances
are traveled in the individual motion steps.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 363/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This list determines, for set 1 of the "MotionProfile" mode, which slave axis
velocities occur in the individual motion steps at the beginning or at the end.
See also Functional Description "MotionProfile With Real/Virtual Master Axis"
Use Indicating the slave axis velocity is necessary when one of the standard pro‐
files R-V (Rest in Velocity), V-R (Velocity in Rest) or V-V (Velocity in Velocity)
has been selected in the motion step.
Taking master axis range, distance and parameterized master axis velocity
(P-0-0711) into account, the coefficients of the 5th order polynomial are cal‐
culated in such a way that the parameterized velocity results at the slave axis
at the end (for R-V) or at the beginning (for V-R and V-V) of the motion step.
If constant velocity has been selected in the mode of a step, the slave axis
velocity resulting from the values of master axis range, distance and parame‐
terized master axis velocity is calculated and displayed in the respective list
element.
This list must have at least as many elements as set 1 has motion steps
(P-0-0710).
P-0-0715 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: + Decim. pl.:
S-0-0046
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function Parameter "P-0-0750" defines the modulo range for the master axis parame‐
ters which are involved in the generation of parameter "P-0-0775, Resulting
master axis position" (including P-0-0775). The information on the range of
the master axis cycle has to be given to the drive so that the overflows of the
master axis position can be processed correctly.
See also Functional Description "Synchronization modes"
See also Functional Description "Velocity synchronization with real/virtual
master axis"
Use The master axis cycle is defined on the control unit side. It contains the num‐
ber of master axis revolutions required in order to bring all drives, that are to
follow the master axis, back to a defined position with respect to each other.
The value of this parameter normally is set to the least common multiple
(LCM) of the input revolutions of the master drive gear "P-0-0156" of the re‐
spective slave axes.
Special case P-0-0750 = 0
Modulo scaling of slave axis:
If value "0" is written to the parameter, the user has to write to "S-0-0103" in
such a way that 232 - 2P-0-0084, Number of bits per master axis revolution master axis revolu‐
tions after the master axis gear correspond to the modulo range. Application:
"flying saw."
Absolute scaling of slave axis:
With absolute scaling of the slave axis, "P-0-0750" has to be set to 0, when
the slave axis follows the master axis in the phase synchronization mode.
Make sure that the master axis range is not exceeded, that the master axis
range value does not fall below the limit and that the derived slave axis posi‐
tion is not outside of the maximum travel range. Otherwise, this causes acci‐
dental axis motion.
Master axis range with P-0-0750 = 0
Master axis range: -231 incr. to 231 - 1 increments.
This corresponds to 2(32 - P-0-0084) master axis revolutions
If the value of "P-0-0750, Master axis revolutions per master axis cycle" is to
be changed in the operating mode from 0 to a value unequal to 0 or from a
value unequal to 0 to 0, the parameter value is read-only. The error "Ope‐
rating data currently read-only due to other settings" is generated.
P-0-0750 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function A division of the command value cycle is defined with this parameter. The
number of divisions that are contained in the command value cycle is indica‐
ted in parameter P-0-0751.
See also Functional Description "Synchronization Modes"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 365/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Use This means that the command value cycle is divided by the value of parame‐
ter P-0-0751 in order to determine the division. The size of the command val‐
ue cycle is contained in parameter "P-0-0754, Command value cycle". The
synchronization division can be selected for synchronization in parameter
"P-0-0155, Synchronization mode". The distance traveled during the synchro‐
nization process won't be longer than the defined division. The position to
which the slave axis synchronizes is calculated by means of modulo division
from the synchronous position command value in the command value cycle.
The synchronization division can be smaller or greater than a load revolution
of the drive.
P-0-0751 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
4.5.28 P-0-0752, Load revolutions per actual value cycle slave axis
Allocation Contained in 16VRS: «MPB» «-» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware --
Funct. package(s): CL+SNC
Device parameter: axis-specific
Function With modulo position scaling, the actual value cycle determines the maximum
range of position data at the slave axis to which control of "operation mode
position synchronization with subordinate operation modes" relates. Via pa‐
rameter P-0-0752, the number of modulo ranges S-0-0103 is given of which
the actual value cycle consists. The actual position value within the actual
value cycle can be taken from parameter "P-0-0753, Position actual value in
actual value cycle".
Use The actual value cycle is required if, in the case of one of the subordinate op‐
eration modes of the position synchronization mode, synchronization is to be
carried out in a range greater or smaller than the modulo value S-0-0103.
The synchronization range in these cases is determined by the command val‐
ue cycle or a division of it.
See also Functional Description "Synchronization Modes"
If several electronic gear ratios are to be set at an axis (e.g. because of differ‐
ent formats), there are several command value cycles resulting at this axis.
The actual value cycle then has to be set in such a way that it corresponds to
the least common multiple (LCM) of these command value cycles.
If the electronic gear is not to be changed, the actual value cycle is set in
such a way that it complies with the command value cycle or a multiple of it.
If synchronization is to be carried out only within the modulo range, the num‐
ber of "load revolutions per actual value cycle slave axis" can be set to "1".
P-0-0752 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Function In processes with different machining cycles, the drives must be able to syn‐
chronize over several master axis revolutions or divisions of a master axis
revolution. This property is defined via the so-called command value cycle.
The command value cycle is automatically set internally and gives the range
of the synchronous position command values of an axis operated in the oper‐
ation modes "phase synchronization", "cam" or "MotionProfile".
The data of the following parameters are used for calculation:
● P-0-0156, Master drive gear input revolutions
● P-0-0157, Master drive gear output revolutions
● P-0-0159, Slave drive feed travel
● P-0-0750, Master axis revolutions per master axis cycle
● P-0-0755, Gear reduction
● S-0-0103, Modulo value
Use This applies to modulo scaling:
Function This parameter is used to set a movement that is phase synchronous with the
master axis, in the operation modes "cam" and "MotionProfile". With an end‐
368/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
lessly turning axis, the forward movement is realized with the linear compo‐
nent, the compensatory movements via the cam.
The linear component is switched on by bit 4 of "P-0-0086, Configuration
word synchronous operation modes".
Use The following parameters are used to calculate the additive synchronous po‐
sition command values XSynchAdd:
● P-0-0776, Effective master axis position
● P-0-0061, Angle offset begin of profile
● P-0-0755, Gear reduction
● S-0-0103, Modulo value
Depending on the type of position scaling, the following formulas are used to
calculate the additive synchronous position command values XSynchAdd.
Fig. 4-45: Generating the Additive Synchronous Position Command Value With
Modulo Scaling
Function This parameter defines the scaling type, the measurement unit and the pro‐
cessing format for the position/velocity and acceleration data for the virtual
master axis. The jerk is not mentioned separately because the jerk data are
derived from this parameter.
The position data and the velocity data have 4 decimal places.
Acceleration and jerk have 2 decimal places.
Structure
Product-specific parameters
4 Unit for linear scaling Unit for linear scaling Unit for linear scaling
0: Millimeter [mm] 0: mm/min1: in/min 0: mm/s2
1: Inch [in] Unit for rotary scaling 1: in/s2
Unit for rotary scaling 0: Revolution [r/min] Unit for rotary scaling
0: Angular degree 1: Reserved 0: Radiant [rad/s2]
1: Reserved 1: Reserved
7 modulo format Irrelevant Irrelevant
0: Absolute scaling
1: Modulo scaling
Function When bit 7 was set to "1" in parameter "P-0-0756, Virtual master axis, scaling
type", parameter "P-0-0757, Virtual master axis, modulo value" determines
the numeric range in which the virtual position data run (0 to modulo value).
Use The unit of the parameter corresponds to the selected scaling of the position
data.
P-0-0757 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
min./max.: -214748,3648 /
MPx / PSB: Default value: ---
214748,3647
Function This parameter displays the virtual actual velocity value. When switching to
the operating mode, the actual velocity value is initialized with 0.
Use With the master axis generator deactivated ("P-0-0917, Control word of mas‐
ter axis generator", bit 0 = 0), it is possible to pre-initialize the actual velocity
value in the operating mode. This can be necessary, for example, when
switching from a master axis (P-0-0052, P-0-0053) to the internal virtual mas‐
ter axis "P-0-0761, Master axis position for slave axis" in control.
P-0-0759 - Attributes Function: Par Editable: OM Data length: 4Byte
Memory: -- Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: AT Comb. check: -- Set-depend.: --
min./max.: -214748,3648 /
MPx / PSB: Default value: ---
214748,3647
Product-specific parameters
Function This parameter contains the value of the signal source specified by parame‐
ter "P-0-0916, Master axis format converter signal selection", wherein this
value has been converted to master axis format. The master axis format of
the internal virtual master axis VmAxisInt (P-0-0761) is defined via "P-0-0917;
bit 4".
P-0-0761 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used during "dynamic jerk adjustment" to define the limit up
to which an increase in velocity is allowed. In addition, a specified positioning
velocity is checked and limited.
P-0-0762 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter defines the master axis cycle/modulo value for generating the
internal virtual master axis position VmAxisInt "P-0-0761, Master axis position
for slave axis" provided it was previously switched to effective by setting
"P-0-0917; bit 4".
P-0-0763 > 0
The value of this parameter defines the number of master axis revolutions
per master axis cycle of the internal virtual master axis. The master axis cycle
of the internal virtual master axis comprises a range from 0 increments to
P-0-0763 * 2 P-0-0773 - 1 increments.
The modulo value of the internal virtual master axis then corresponds to
P-0-0763 * 2 P-0-0773 increments.
P-0-0763 = 0
In this case, the master axis cycle ranges from -2 31 increments to 2 31 - 1
increments. This corresponds to 2(32 - P-0-0773) master axis revolutions.
Product-specific parameters
Function The master axis speed corresponds to the difference of the master axis val‐
ues of parameter "P0-0775, Resulting master axis position" per position loop
interrupt of the drive. The master axis speed is given in rpm.
See also Functional Description: "Synchronization Modes"
P-0-0764 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: rpm Extr. val. ch.: -- Decim. pl.: 4
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter "P-0-0765, Modulo factor measuring encoder" defines the ab‐
solute range of the measuring encoder.
Use The input is a factor of 2 P-0-0084, number of bits per master axis revolution. Therefore, the
following applies:
Measuring encoder modulo range = measuring encoder modulo factor * 2
P-0-0084
If the value 0 is input for "P-0-0765", the position data range of the measuring
encoder is from -2 31 incr. to 2 31 -1 increments.
This corresponds to 2 (32 - P-0-0084) measuring encoder revolutions
See also Functional Description "Measuring encoder"
The measuring encoder is evaluated and displayed in this range. If the modu‐
lo factor of the measuring encoder * 2 P-0-0084 is smaller than the absolute dis‐
play range of the measuring encoder (is automatically defined by the selected
encoder), bit 6 is set in the parameter "P-0-0328, Type of position encoder for
measuring encoder" (absolute encoder evaluation is possible).
P-0-0765 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used to specify the target position (absolute position) or a
relative travel distance for the master axis generator.
The effective target position to which the virtual axis positions can
be read at any time from "P-0-0767, Virtual master axis, effective
target position"!
After the drive has been switched on, the value of "P-0-0766" is
set to zero.
Use When the edge of bit 0 of "P-0-0760, Virtual master axis, positioning control
word" is changed, the master axis generator travels to a virtual axis position
which corresponds to "P-0-0766, Virtual master axis, positioning command
value", this being controlled by an internally generated position command val‐
ue.
The master axis generator takes the following additional positioning data into
account:
● P-0-0770, Virtual master axis, positioning velocity
● P-0-0771, Virtual master axis, positioning acceleration
● P-0-0772, Virtual master axis, positioning deceleration
● P-0-0913, Virtual master axis, positioning jerk
P-0-0766 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
min./max.: -214748,3648 /
MPx / PSB: Default value: ---
214748,3647
Function Via this parameter the current target position (absolute position) can be read
when the virtual master axis is positioned.
Use The parameter is initialized depending on the following settings:
● the value of "P-0-0766, Virtual master axis, positioning command value",
if it has been defined as absolute target position,
● the sum of the previous value of "P-0-0767, Virtual master axis, effective
target position" and "P-0-0766, Virtual master axis, positioning com‐
mand value", if the new target position relates to the previous target po‐
sition ( "P-0-0760, Virtual master axis, positioning control word", bit 4 = 0
(previous target position)),
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 375/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
● the sum of the actual position value "P-0-0758, Virtual master axis, ac‐
tual position value" and "P-0-0766, Virtual master axis, positioning com‐
mand value" at the time toggling takes place, if the target position re‐
lates to the current actual position value (P-0-0760, bit 4 = 1 (current ac‐
tual position value)).
P-0-0767 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 4
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter is formed while the virtual master axis is active. The parame‐
ter contains status bits of the virtual positioning generator.
Structure
Bit Significance Comment
0 Target position reached P-0-0767 = P-0-0758
1 Acknowledgement bit P-0-0760, Virtual master axis, posi‐
tioning control word, bit 0
2 IN_TARGET POSITION = (|P-0-0767 - P-0-0758 | <
P-0-0911) && | P-0-0759 | < P-0-0912
3 Interpolator stopped
4 Constant command velocity
5 Drive accelerates
6 Drive decelerates
8 Synchroniz. of second. master completed
12 Jog mode active (P-0-0760, bits 1 and 2)
Product-specific parameters
Function In the case of virtual modulo scaling, this parameter defines the allowed di‐
rection of rotation of the "virtual master axis" of the master axis generator for
positioning processes.
Structure
Bit Designation/function Comment
Function This parameter presets the velocity command value (positioning velocity
command value) of the virtual master axis.
P-0-0770 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter presets the acceleration command value of the virtual master
axis.
P-0-0771 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter presets the deceleration command value of the virtual master
axis.
P-0-0772 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
4.5.49 P-0-0773, Number of bits per master axis revolution, format converter
Allocation Contained in 17VRS: «MPB» «-» «-» «MPC»
Contained in 18VRS: «MPB» «-» «-» «MPC»
Contained in 19VRS: «MPB» «-» «-» «MPC» «-»
Contained in 20VRS: «MPB» «-» «-» «MPC» «-»
Hardware --
Funct. package(s): SNC
Device parameter: device-specific
Function This parameter defines the resolution of the internal virtual master axis
VmAxisInt "P-0-0761 Master axis position for slave axis" provided it was pre‐
viously switched to effective by setting bit 4" Master axis format of internal vir‐
tual master axis (VmAxisInt)" of parameter "P-0-0917, Control word of master
axis generator". The numerical value corresponds to the exponent of a power
of two. The default setting of this parameter is 20. As a result, one master ax‐
is revolution corresponds to 2 20 (1048576) increments per master axis revo‐
lution. If bit 4 of parameter "P-0-0917" is not set (default setting), the resolu‐
tion of the internal virtual master axis VmAxisInt "P-0-0761, Master axis posi‐
tion for slave axis" is defined by parameter "P-0-0084, Number of bits per
master axis revolution".
Product-specific parameters
tance even if only one direction of movement has been determined for posi‐
tioning in "P-0-0769, Virtual master axis, command value mode".
P-0-0774 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function The resulting master axis position is the master axis position which takes ef‐
fect at the input of the master drive gear in the synchronous operation
modes. Depending on the parameterization, the resulting master axis position
consists of several different master axis positions and is generated in the
drive in the position loop clock.
See also Functional Description "Synchronization Modes"
Use The resulting master axis position consists of the sum of three master axis
positions.
Position synchronization or velocity synchronization active:
Generation is defined via bit 7 and 6 of parameter "P-0-0088, Control word
synchronization modes".
Bits 7/6 Master axis P-0-0775
00 P-0-0053 P-0-0053 +P-0-0054 + P-0-0692
01 P-0-0761 as of MPx-17V06 P-0-0761 + P-0-0054 + P-0-0692
10 P-0-0052 P-0-0052 +P-0-0054 + P-0-0692
11 P-0-0787 as of MPx-17V06 -P-0-0787 + P-0-0054 + P-0-0692
Product-specific parameters
If the additive "IndraMotion MLD" function package is not activated and none
of the two "position synchronization or velocity synchronization" modes is
configured, then the following applies:
● Synchronous operation mode with real master axis
P-0-0775 = P-0-0052 + P-0-0054 + P-0-0692
● Synchronous operation mode with virtual master axis
The resulting master axis position is generated as follows depending on
bits 6 and 7 of parameter "P-0-0088, Control word synchronization
modes":
– Bit 7/6 = X0: P-0-0775 = P-0-0053 + P-0-0054 + P-0-0692
– Bit 7/6 = 01: P-0-0775 = P-0-0761 + P-0-0054 + P-0-0692 as of
MPx-17V06
– Bit 7/6 = 11: P-0-0775 = P-0-0787 + P-0-0054 + P-0-0692 as of
MPx-17V06
P-0-0775 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The effective master axis position is the resulting master axis position
"P-0-0775" after the master drive gear "P-0-0157/P-0-0156" and the gear ra‐
tio fine adjustment "P-0-0083". With modulo scaling, the effective master axis
position is limited to 2 P-0-0084. The parameter is only generated with active
synchronous operation mode.
See also Functional Description "Synchronization Modes"
P-0-0776 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function The effective master axis velocity is "P-0-0764, Master axis speed" after the
master drive gear P-0-0157/P-0-0156 and the gear ratio fine adjustment
P-0-0083.
See also Functional Description "Synchronization Modes"
P-0-0777 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: rpm Extr. val. ch.: -- Decim. pl.: 4
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The synchronous position command value is the synchronous position com‐
mand value of the slave axis derived from the resulting master axis position
(P-0-0775). It is determined depending on the synchronous operation mode
with outer position control loop that has been set.
See also Functional Description "Synchronization Modes"
P-0-0778 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function Parameter "P-0-0780" contains a table with data points tab (φ) for the profile
of cam 3.
See also Functional Description "Electronic Cam With Real/Virtual Master
Axis"
Use Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
● 4 cam tables with 3 to 1024 data points (P-0-0072, P-0-0092, P-0-0780,
P-0-0781)
● 4 cam tables with 3 to 128 data points (P-0-0782, P-0-0783, P-0-0784,
P-0-0785)
min./max.: -799,999999 /
MPx / PSB: Default value: s. Text
799,999999
Function Parameter"P-0-0781" contains a table with data points tab (φ) for the profile
of cam 4.
See also Functional Description of Operation Mode "Electronic Cam With Re‐
al/Virtual Master Axis"
Use Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
● 4 cam tables with 3 to 1024 data points (P-0-0072, P-0-0092, P-0-0780,
P-0-0781)
● 4 cam tables with 3 to 128 data points (P-0-0782, P-0-0783, P-0-0784,
P-0-0785)
382/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
min./max.: -799,999999 /
MPx / PSB: Default value: s. Text
799,999999
Function Parameter P-0-0782 contains a table with data points tab (φ) for the profile of
cam 5.
See also Functional Description "Electronic Cam With Real/Virtual Master
Axis"
Use Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
● 4 cam tables with 3 to 1024 data points (P-0-0072, P-0-0092, P-0-0780,
P-0-0781)
● 4 cam tables with 3 to 128 data points (P-0-0782, P-0-0783, P-0-0784,
P-0-0785)
min./max.: -799,999999 /
MPx / PSB: Default value: s. Text
799,999999
Function Parameter P-0-0783 contains a table with data points tab (φ) for the profile of
cam 6.
See also Functional Description of the operation mode "Electronic Cam With
Real/Virtual Master Axis"
Use Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 383/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
min./max.: -799,999999 /
MPx / PSB: Default value: s. Text
799,999999
Function Parameter P-0-0784 contains a table with data points tab (φ) for the profile of
cam 7.
See also Functional Description "Electronic Cam With Real/Virtual Master
Axis"
Use Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
● 4 cam tables with 3 to 1024 data points (P-0-0072, P-0-0092, P-0-0780,
P-0-0781)
● 4 cam tables with 3 to 128 data points (P-0-0782, P-0-0783, P-0-0784,
P-0-0785)
min./max.: -799,999999 /
MPx / PSB: Default value: s. Text
799,999999
Function Parameter"P-0-0785" contains a table with data points tab (φ) for the profile
of cam 8.
384/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
min./max.: -799,999999 /
MPx / PSB: Default value: s. Text
799,999999
Function The parameter P-0-0786 is used to display the modulo value for the actual
value cycle. It is the range for parameter "P-0-0753, Position actual value in
actual value cycle".
See also Functional Description "Synchronization Modes"
P-0-0786 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function "Group axis 1 position" serves as group axis between the IndraMotion MLD-
M and a higher-level control or as a second virtual master axis which is iden‐
tical with the virtual master axis position in "P-0-0053, Master axis position".
The group axis is used to specify cyclic master axis command values at time-
equidistant intervals (NC clock).
"P-0-0787" is used as primary master axis for secondary master axis opera‐
tion or directly as primary master axis for the master axis format converter of
the virtual axis.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 385/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
"P-0-0787" serves as a second virtual master axis for the real synchronous
operation modes in addition to the following master axes:
● P-0-0053, Master axis position
● P-0-0761, Master axis position for slave axis
● P-0-0052, Actual position value of measuring encoder
See also Functional Description "Virtual Master Axis Generator"
P-0-0787 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter displays the group axis position of parameter "P-0-0787,
Group axis 1 position" fine interpolated with regard to the position loop clock.
See also Functional Description "Virtual Master Axis Generator"
P-0-0788 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter displays the master axis position of the parameter "P-0-0053,
Master axis position" fine interpolated with regard to the position loop clock.
See also Functional Description "Synchronization Modes"
P-0-0789 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Function This list parameter displays the data for the soft-start charging circuit. It is
stored in the power section in non-volatile form.
See also Functional Description "Power Supply"
P-0-0809 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: LT_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function For HCx converters, it is possible to set an individual minimum value for the
crest value of the mains voltage in this parameter. This value is only effective,
if it is greater than the minimum value of the mains connection voltage range!
For HCS01/2 and HCQ/HCT If the mains crest value, when the converter is switched on, is lower than the
value in P-0-0810, the diagnostic message "E2814 Undervoltage in mains" is
generated.
For HCS03 If the mains crest value, when the converter is switched on or operated, is
lower than the value in P-0-0810, the diagnostic message "E2814 Undervolt‐
age in mains" is generated.
For HCS devices, the mains voltage crest value detected when
switching on is displayed in "P-0-0815, Nominal mains voltage
crest value"!
Product-specific parameters
Function With converters (HCS), this parameter shows the nominal line voltage crest
value, which was measured the first time the supply voltage was connected
after the control voltage was switched on.
The following values can be derived from this:
● Undervoltage in the intermediate circuit (P-0-0815 * 0.75 or 0.66 during
single-phase operation)
● Minimum switch-on voltage of a braking resistor (1.08 * P-0-0815)
P-0-0815 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: V Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter displays the current temperature of a third temperature sen‐
sor on the power section. This sensor is provided in HCS04.2 devices with
higher power. If the device is not provided with a third temperature sensor,
P-0-0817 always displays a value of "0".
Use The related warning and shutdown thresholds are "E2040 Device overtem‐
perature 2 prewarning" and "F2040 Device overtemperature 2 shutdown".
P-0-0817 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: S-0-0208 Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter displays the energy which was supplied to the drive. The en‐
ergy is determined by means of the operating time as the sum of the effective
power.
P-0-0819 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: RETAIN_KUNDE Validity ch.: -- Format: DEC_MV
Unit: kWh Extr. val. ch.: -- Decim. pl.: 2
Cycl. tra.: AT Comb. check: -- Set-depend.: --
min./max.: -20000000,00 /
MPx / PSB: Default value: ---
20000000,00
Function The braking resistor is only switched on via the firmware if this is required by
the deceleration of the motor. This means that it is switched on whenever the
DC bus voltage is higher than the voltage threshold "P-0-0833, Braking resis‐
tor threshold".
The switch-on threshold is defined by the device, the mains voltage and the
maximum motor voltage "P-0-0853". For devices that operate up to 220V, the
switch-on threshold is always defined at 390V.
If devices with an input voltage range of 200V - 500V are used, the threshold
of the braking resistor is reduced (for connected motors with reduced voltage
resistance). The switch-on threshold is always at least 20% over the peak of
the current mains voltage.
See functional description "Information on the braking resistor and the DC
bus resistor unit HLB01"
Use If HLB01 resistor units are used, they are to be operated in "independent of
mains voltage" mode. This way, only motors with a minimum voltage resist‐
ance of 900V can be operated.
Product-specific parameters
Function This parameter displays the percentage-based thermal energy currently stor‐
ed in the braking resistor in relation to its maximum allowed energy content.
If the load rises to a value exceeding the prewarning threshold, E2820 Brak‐
ing resistor overload prewarning is displayed. Once a load of 110% is
reached, the device generates error "F2820" and reacts with the error reac‐
tion set for F2 errors. The braking resistor function remains active during the
deceleration phase.
As of MPx-17VRS: The prewarning threshold is defined by parameter
"P-0-0469, Prewarning threshold of therm. load of braking resistor".
To allow a quick check of the thermal load of the braking resistor during a
machining cycle, a value can be written to the display value that is greater
than the current load prior to the machining cycle. If the value after the ma‐
chining cycle is lower than the set value and the value defined in "P-0-0467,
Maximum value thermal load of braking resistor" is lower than 100%, the ma‐
chining cycle is not limited by the braking resistor.
KMV power supply: Once a load of 110% is reached, the device generates
error "F8820" and reacts by switching off the main contactor (bb relay of the
power supply is opened).
P-0-0844 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: % Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function Similar to "P-0-0819, Energy counter", this parameter serves to display the
energy consumed by the drive. Resolution is 1 Ws. This allows evaluation of
the energy consumption of individual machining cycles which can take from a
few seconds to as long as several hours. The parameter is not stored and is
zero after the drive has been switched on.
P-0-0851 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Ws Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 391/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
min./max.: -2147483648 /
MPx / PSB: Default value: ---
2147483647
Function If a motor is not suitable for the maximum DC bus voltage defined by the de‐
vice, the maximum allowed DC bus voltage for the motor (output voltage of
the converter) has to be entered in this parameter. This parameter defines
the threshold for switching off the power output stage and the switch-on
threshold of the braking resistor (if present). The reduction becomes effective
if the voltage entered here is lower than the values defined by the device.
Subject to the device, the switch-on voltage of the braking resistor is reduced
as compared with the switch-off threshold of the power output stage.
For Bosch Rexroth motors with encoder data memory (MSK: 950V; MSM:
420V), the parameter is automatically set.
Observe the following aspects for parameterization:
The switch-on voltage of the braking resistor is checked with the mains volt‐
age.
BG 1: The braking resistor switch-on voltage may not be lower than 108% of
"P-0-0815, Nominal mains voltage crest value".
See also Functional Description "Power supply"
P-0-0853 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: V Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The type data of an externally connected braking resistor are set for the con‐
verter in this list parameter.
The HLR braking resistors which can be used are assigned to the corre‐
sponding HCS devices in the documentation "Rexroth IndraDrive, Supply
Units and Power Sections; Project Planning Manual".
The type data of the HLR braking resistors are contained in the documenta‐
tion "Rexroth IndraDrive, Additional Components; Project Planning Manual".
See also Functional Description "Power supply"
The list parameter has the following structure:
392/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
If the value entered in the list element no. 3 is too low, this is veri‐
fied when the mains is switched on (HCS03/04) or after the first
soft start (HCS01/02, HCQ, HCT), and the diagnostic message
"F2825 Switch-on threshold braking resistor too low" is gener‐
ated.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 393/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function For converters the type data of the device-internal braking resistor are dis‐
played in this list parameter. The parameter is stored in non-volatile form in
the power section.
Structure
Element No. Name Unit Decimal places Length in bytes
Function This parameter is used to make basic settings for the power section of con‐
verters.
See also Functional Description "Power supply"
Structure The bits of the parameter have the following significance:
394/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
1: Activated
2 Mains disconnected by the supply unit MPx-19VRS
0: Power off: Mains contactor only opened in the case of and above
supply unit error and "(supply unit) error" signal on
IndraBus/module bus
1: Power off: Mains contactor additionally opened in the
case of "inverter error" on IndraBus/module bus
3 HMV/KMV mains connection PSB-19VRS
0: Three-phase operation and above
1: Single-phase/two-phase operation
4 HMV/KMV mains choke check PSB-19VRS
0: Deactivated and above
1: Activated
7-5 Reserved
8 Braking resistor (internal/external)
0: Internal braking resistor has been activated
1: External braking resistor has been activated, internal
braking resistor has been deactivated.
9 Braking resistor switch-on threshold adjusted depending MPx-17VRS
on load and below
0: Active, threshold is increased, proportionally to the ther‐ Irrelevant in
mal load, up to 30V above the reference value MPx-18VRS
1: Inactive and above. Al‐
ways active if
the device al‐
lows it
11/10 Selecting the braking resistor switch-on threshold (refer‐
ence values)
00: EIN = DC820V (HCS01.1E-....-03-...) or DC390V
(HCS01.1E-....-02-...) (MPx-17VRS and below)
01: ON = list element 3 of "P-0-0858, Data of external
braking resistor" (max. DC820V or max. DC390V, see
above) (MPx-17VRS and below)
11: Braking resistor deactivated; braking resistor switch-on
threshold increased to 870 V (MPx-18V26 and above)
12 Reserved
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 395/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Bit 0 and bit 14: Power supply, operating mode, MPx17VRS and above
It is possible to configure a converter, such as HCS01, as an inverter. The
different modes are described below.
Converter mode The converter is supplied with P-0-0860, bit 0 = "0" P-0-0114 can be used (it is possible to
(default setting) mains voltage; if applicable, other and bit 14 = "0" increase the undervoltage threshold).
inverters, but not a DC energy buf‐
fer, have been connected to its DC
bus.
Converter mode The converter is supplied with P-0-0860, bit 0 = "0" ● Setting for pitch drives of wind
with energy buffer mains voltage; if applicable, other and bit 14 = "1" power stations, for example.
in DC Bus inverters, plus a DC energy buffer, ● Status message "Ab" even without
have been connected to its DC bus. available mains voltage, as only
the DC bus voltage is monitored
(P-0-0114).
● No error message in the event of
mains failure.
Inverter mode The converter is exclusively sup‐ P-0-0860, bit 0 = "1", P-0-0114 is irrelevant
plied via the DC bus connection on bit 14 is irrelevant.
the DC side; any available DC en‐
ergy buffer is irrelevant to parame‐
terization.
Product-specific parameters
Product-specific parameters
Function This parameter is used to display the state of the power supply.
See also Functional Description "Power supply"
Structure
Bit Designation/function Comment
Product-specific parameters
Function The following table represents the signals possible for emulation and their
special features with regard to emulation.
Incremental encoder emulation
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
S-0-0051, Position feed‐ S-0-0076 [mm] or Lines Indirectly by control Internally with ex‐
back value 1 [lines/revolution] via S-0-0148, trapolation on
P-0-0012 changeover
S-0-0053, Position feed‐ S-0-0076 [mm] or Lines Indirectly by control Internally with ex‐
back value 2 [lines/revolution] via S-0-0148, trapolation on
P-0-0012 changeover
S-0-0386, Active position S-0-0076 [mm] or Lines Indirectly by control Internally with ex‐
feedback value [lines/revolution] via S-0-0148, trapolation on
P-0-0012 changeover
P-0-0434, Position com‐ S-0-0076 [mm] or Lines P-0-0901.0.2 via Externally by stop‐
mand value of controller [lines/revolution] controller ping emulation via
the controller
P-0-0052, Actual position [Lines/revolution] Lines Indirectly by control Internally with ex‐
value of measuring en‐ via P-0-0012, trapolation on
coder Internally on mark changeover
detection
P-0-0087 via con‐ Externally by stop‐
troller ping emulation via
the controller
P-0-0775, Resulting mas‐ [Lines/revolution] Lines P-0-0053 via con‐ Externally by stop‐
ter axis position troller ping emulation via
the controller
P-0-0776, Effective mas‐ [Lines/revolution] Lines P-0-0053 via con‐ Externally by stop‐
ter axis position troller, changeover ping emulation via
"AB -> AF" the controller
Encoder 1 signal P-0-4014 [mm] or No parameterization Internally on mark Internally with ex‐
[lines/revolution] possible detection trapolation on
changeover
P-0-0901.0.7, Encoder [Lines/revolution] Lines Externally by stop‐
emulation, external signal ping emulation via
the controller
Emulation signal Scaling (P-0-0901.0.3, En‐ Sources for signal jumps Handling of signal jumps
coder emulation resolution)
S-0-0051, Position feedback Bit per revolution unit [bit] Indirectly by control via Internally with extrapolation
value 1 S-0-0148, P-0-0012 on changeover
S-0-0053, Position feedback Bit per revolution unit [bit] Indirectly by control via Internally with extrapolation
value 2 S-0-0148, P-0-0012 on changeover
400/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
S-0-0386, Active position Bit per revolution unit [bit] Indirectly by control via Internally with extrapolation
feedback value S-0-0148, P-0-0012 on changeover
P-0-0434, Position command Bit per revolution unit [bit] P-0-0901.0.2 via controller Externally by stopping emula‐
value of controller tion via the controller
P-0-0052, Actual position val‐ Bit per revolution unit [bit] Indirectly by control via Internally with extrapolation
ue of measuring encoder P-0-0012, on changeover
Internally on mark detection
P-0-0087 via controller Externally by stopping emula‐
tion via the controller
P-0-0775, Resulting master Bit per revolution unit [bit] P-0-0053 via controller Externally by stopping emula‐
axis position tion via the controller
P-0-0776, Effective master Bit per revolution unit [bit] P-0-0053 via controller, Externally by stopping emula‐
axis position changeover "AB -> AF" tion via the controller
P-0-0901.0.7, Encoder emu‐ Bit per revolution unit [bit] Externally by stopping emula‐
lation, external signal tion via the controller
Function This parameter serves to configure (control) the incremental and SSI encoder
emulation. It allows defining the signal to be emulated.
See also functional description "Encoder emulation"
Use Supported emulation signals, signal selection list
The signals to be emulated, which are supported by the drive, can be found
in parameter "P-0-0900, Encoder emulation signal selection list".
Configuration
Configuration is achieved by entering the desired IDN from list parameter
"P-0-0900" in parameter "P-0-0901.0.1".
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function In case of incremental encoder emulation, this parameter allows offsetting the
position of the zero pulse (reference pulse) within the parameterized zero
pulse distance (P-0-0901.0.5).
See also functional description "Encoder emulation"
Use Observe the following aspects for parameterizing "P-0-0901.0.4":
● Entries can be made in any phase, even during ongoing operation.
However, the drive should be at standstill while a value is entered.
● The input is made in lines of the emulator resolution, with formats and
units being variable as follows:
– Rotary encoder: Lines
– Linear encoder (or linear scaling): mm or inch
404/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
The offset has to be less than the zero pulse distance parameter‐
ized in "P-0-0901.0.5".
Function This parameter is used to define the distance between two successive zero
pulses during incremental encoder emulation, in relation to the travel dis‐
tance.
Formats, units and maximum values are variable:
● Rotary motor: lines (max value = 2^32 lines)
● Linear motor: mm or Inch (max. value = S-0-0278)
See also Functional Description "Encoder Emulation"
Use Observe the following aspects when parameterizing "P-0-0901.0.5":
● Parameterization of P-0-0901.0.5 = P-0-0901.0.3 (standard case):
One zero pulse per revolution (or per mm) is generated.
● Parameterization of P-0-0901.0.5 < P-0-0901.0.3 (cyclic zero pulse out‐
put):
More zero pulse than one are generated per revolution (or per mm). If,
for example, a zero pulse is required after every 180 degrees,
P-0-0901.0.5 = 0.5 * P-0-0901.0.3 must be parameterized.
Product-specific parameters
Function This parameter serves to specify the axis which is assigned to the encoder
emulation of the particular optional slot.
In order to assign an axis to the optional slot of the encoder emulation, the
corresponding axis number must be entered in this parameter. This is above
all important for double-axis devices, particularly if only one emulator card is
inserted.
The assignment parameter serves to configure which one of the two axes is
to be emulated by this card.
Example:
P-0-0901.3.6 = 2
This means that the emulator card at interface 3 (see structure instance) em‐
ulates axis 2.
min./max.: -2147483648 /
MPx / PSB: Default value: ---
2147483647
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter serves to the specify the modulo value for processing exter‐
nal supplied emulation signals. The modulo value defines the numerical value
at which the position data overflow to "0" and therefore serves to control the
zero pulse output.
See also Functional Description "Encoder Emulation"
P-0-0901.0.8 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_MV
Unit: Incr/Rev Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter serves to configure the hardware of the SSI encoder input on
option "MD2".
Structure The following bits are defined:
Product-specific parameters
Function This parameter is used to generate bit 2 of "P-0-0768, Virtual master axis,
positioning status".
See also Parameter Description "P-0-0768, Virtual master axis, positioning
status"
P-0-0911 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function To recognize the standstill of the virtual master axis a threshold value for the
velocity is entered in this parameter. Standstill is detected, if the absolute val‐
ue of the actual velocity value falls below this threshold. This parameter is re‐
quired to generate bit 2 of P-0-0768, Virtual master axis, positioning status.
408/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The jerk limits the change in acceleration per time unit in the positioning and
velocity modes of the virtual master axis.
The limit value specified in this parameter is effective if a trapezoidal acceler‐
ation progress is set in parameter "P-0-0917, Control word of master axis
generator". In this case, the value specified can only be exceeded with active
dynamic jerk adjustment.
If a "sine²-shaped acceleration progress" (P-0-0917) is set, the jerk value
specified here is ignored.
P-0-0913 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function By means of this parameter it is possible to set a threshold value for the ac‐
tual velocity.
If the actual velocity is above the threshold value, the drive moves to a target
position without reversing the direction of rotation, even if the setting in
"P-0-0769, Virtual master axis, command value mode" should cause the di‐
rection of rotation to be reversed.
Product-specific parameters
4.7.15 P-0-0915, Master axis format converter IDN list signal selection
Allocation Contained in 17VRS: «MPB» «-» «-» «MPC»
Contained in 18VRS: «MPB» «-» «-» «MPC»
Contained in 19VRS: «MPB» «-» «-» «MPC» «-»
Contained in 20VRS: «MPB» «-» «-» «MPC» «-»
Hardware --
Funct. package(s): SNC
Device parameter: axis-specific
Function This parameter specifies all parameters which can be converted into master
axis format.
● S-0-0000, Dummy parameter
● S-0-0051, Actual position value encoder 1
● S-0-0053, Actual position value encoder 2
● S-0-0386, Active position value
● P-0-0048, Effective velocity command value
● P-0-0052, Actual position value of measuring encoder
● P-0-0434, Position command value of controller
● P-0-0457, Position command valu generator
● P-0-0753, Position actual value in actual value cycle
● P-0-0758, Virtual master axis, actual position value
● P-0-0787, Group axis 1 position
● P-0-1270, PLC Global Register A0
● P-0-1271, PLC Global Register A1
● P-0-1272, PLC Global Register A2
● P-0-1273, PLC Global Register A3
● P-0-1274, PLC Global Register A4
● P-0-1275, PLC Global Register A5
● P-0-1276, PLC Global Register A6
● P-0-1277, PLC Global Register A7
● P-0-1771, CCD: Actual value data container 1, Slave 1 4Byte
● P-0-1772, CCD: Actual value data container 1, Slave 2 4Byte
● P-0-1773, CCD: Actual value data container 1, Slave 3 4Byte
● P-0-1774, CCD: Actual value data container 1, Slave 4 4Byte
● P-0-1775, CCD: Actual value data container 1, Slave 5 4Byte
● P-0-1776, CCD: Actual value data container 1, Slave 6 4Byte
● P-0-1777, CCD: Actual value data container 1, Slave 7 4Byte
● P-0-1778, CCD: Actual value data container 1, Slave 8 4Byte
● P-0-1779, CCD: Actual value data container 1, Slave 9 4Byte
Product-specific parameters
Function This parameter is used to select the parameter whose value is to be conver‐
ted into the format of the master axis.
The IDNs of the parameters that can be selected are listed in "P-0-0915,
Master axis format converter IDN list signal selection". It is only possible to
select these parameters!
P-0-0916 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter serves to activate and deactivate the virtual master axis gen‐
erator. In addition, it is used to make positioning interpolator settings and to
define the master axis format of the internal virtual master axis VmAxisInt
(P-0-0761, Master axis position for slave axis)-
Structure
Bit Designation/function Comment
0 Master axis generator activation
0: Master axis generator deactivated
1: The master axis generator is activated if the "P-0-0758,
Virtual master axis, actual position value" is entered in pa‐
rameter "P-0-0916, Master axis format converter signal se‐
lection".
2 Selection of acceleration curve As of
0: Trapezoidal MPx-17V08
1: Sine²-shaped
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 411/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function This parameter is required for the virtual master axis of the internal master
axis generator if the virtual master axis has absolute scaling. The distance
parameterized there corresponds to 2 P-0-0084 increments (one revolution of
the master axis).
P-0-0918 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This parameter determines how the secondary master synchronizes with the
primary master.
Structure
Bit Designation/function Comment
Relative synchronization
1 0: Absolute synchronization
1: Relative synchronization
Synchronization range
2 0: 360° (1 master axis revolution)
1: Master axis cycle
Synchronization method
6 0: 2-step synchronization
1: 1-step synchronization
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 413/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter indicates the acceleration or deceleration with which the sec‐
ondary master accelerates or decelerates when its velocity is adjusted to the
414/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function For position adjustment, this parameter is used to set the velocity of the su‐
perimposed motion.
Scaling / unit: 1E-4 rpm.
P-0-0921 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: rpm Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used to select the primary master for secondary master op‐
eration of the virtual axis. This functionality is mainly used for the CCD mas‐
ter axis with active MLD-M system mode.
See also Functional Description "Virtual Master Axis Generator"
Structure
Bit Designation/function Comment
1/0 00: P-0-0787, Group axis 1 position
01: P-0-0052, Actual position value of measuring encoder
10: P-0-0053, Master axis position
Function Together with P-0-0926, this parameter determines the master drive gear
which is used for phase-synchronous operation of the virtual axis.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Together with P-0-0925, this parameter determines the master drive gear
which is used for phase-synchronous operation of the virtual axis.
P-0-0926 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This parameter sets a factor used for phase-synchronous operation of the vir‐
tual axis. With this factor (1 + P-0-0927), the position of the primary master is
multiplied after the master drive gear.
P-0-0927 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: % Extr. val. ch.: + Decim. pl.: 6
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
min./max.: -799,999999 /
MPx / PSB: Default value: 0,000000
799,999999
Function This parameter allows offsetting the secondary master in relation to the mas‐
ter axis position which is calculated from the primary masster and the elec‐
tronic gear by means of fine adjustment.
The unit of the parameter is degrees and the data has 4 decimal places.
P-0-0928 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Deg Extr. val. ch.: -- Decim. pl.: 4
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 417/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
min./max.: -214748,3648 /
MPx / PSB: Default value: ---
214748,3647
Function Parameter "P-0-0929" serves to define the maximum velocity at which the
current value of a "P-0-0928, Additive master axis position, secondary mas‐
ter" is moved to a new one.
The unit of the parameter is rpm and the data has 4 decimal places.
P-0-0929 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: rpm Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
4.7.30 P-0-0930, Change accel. of add. master axis posit., secondary master
Allocation Contained in 17VRS: «MPB» «-» «-» «MPC»
Contained in 18VRS: «MPB» «-» «-» «MPC»
Contained in 19VRS: «MPB» «-» «-» «MPC» «-»
Contained in 20VRS: «MPB» «-» «-» «MPC» «-»
Hardware --
Funct. package(s): SNC
Device parameter: device-specific
Function Parameter "P-0-0930" indicates the acceleration and deceleration with which
"P-0-0928" is changed.
The unit of the parameter is rad/s² and the data has 3 decimal places.
P-0-0930 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: rad/s² Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter specifies the range of the primary master, within which the
synchronization of the secondary master takes place. This specification re‐
fers to the output of the electronic gear of the secondary master.
Function In the case of motors with encoder data memory (MKE, MSK etc.), the char‐
acteristic value for the type and specific features of encoder 1 (motor encod‐
er) can be read from this parameter.
See also Functional Description: "Rexroth Housing Motors With Encoder Da‐
ta Memory"
Use The value that has been read allows identifying the encoder incorporated in
the motor:
Product-specific parameters
Function The value for the motor encoder resolution, that is stored in the encoder data
memory, is stored in this parameter.
In the case of motors with encoder data memory (MSK, MKE etc.), the value
is copied to the effective parameter "S-0-0116, Resolution of feedback 1"
when the controller is initialized (transition to phase 4).
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-1001 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: FEEDB_I2C Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is required for homing absolute motor encoders. The value is
the difference between the zero point of the motor encoder and the machine
zero point in the position data format of the motor encoder.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-1002 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: FEEDBACK Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function In the case of optional encoders with encoder data memory, the characteris‐
tic value for the type and specific features of encoder 2 can be read from this
parameter.
Use The encoder 2 can be identified by the value that has been read:
Function The value for the resolution of the optional encoder (encoder 2), that is stored
in the encoder data memory, is stored in this parameter.
The value is copied to the effective parameter "S-0-0117, Resolution of feed‐
back 2" when the controller is initialized (transition to phase 4).
See also Functional Description "Optional Encoder"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 421/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is required for homing absolute optional encoders. The value
is the difference between the zero point of the optional encoder and the ma‐
chine zero point in the position data format of the encoder 2.
Function In the case of measuring encoders with encoder data memory, the character‐
istic value for the type and specific features of encoder 3 can be read from
this parameter.
See also Functional Description "Measuring Encoder"
Use The encoder 3 (measuring encoder) can be identified by the value that has
been read:
Product-specific parameters
Function The value for the resolution of the measuring encoder (encoder 3) that is
stored in the encoder data memory is stored in this parameter.
The value is copied to the effective parameter "P-0-0327, Encoder resolution
of measuring encoder" when the controller is initialized (transition to
phase 4).
See also Functional Description "Measuring Encoder"
P-0-1021 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: FEEDB_I2C Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter "P-0-1022, Absolute encoder offset 3, encoder memory" is re‐
quired for homing an absolute measuring encoder. The value is the differ‐
ence between the zero point of the optional encoder and the machine zero
point in the position data format of the encoder 3 (measuring encoder).
Product-specific parameters
Function This parameter is used to transfer the encoder data from the encoder memo‐
ry to optional slot x in the control unit parameter memory. The content of the
parameter can only be interpreted by Bosch Rexroth service technicians.
P-0-1031 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters displays the content read of the encoder data memory at op‐
tional slot 2.
P-0-1032 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters displays the content read of the encoder data memory at op‐
tional slot 3.
P-0-1033 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters displays the content read of the encoder data memory at op‐
tional slot 4.
P-0-1034 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
424/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameters displays the content read of the encoder data memory at op‐
tional slot 5.
P-0-1035 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters displays the content read of the encoder data memory at op‐
tional slot 6.
P-0-1036 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Via parameter P-0-1044, the status information on the current state of IP
communication with engineering over IP can be read at the master communi‐
cation interface of the device. The parameter contains general information on
IP communication and device-dependent information.
Structure The general status information of IP communication is contained in parame‐
ter P-0-1044, preferably in the first 8 bits. The bits 8 to 31 contain the device-
dependent information.
The individual bits of the parameter have the following significance:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 425/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function For power sections with built-in IP communication, communication can be ac‐
tivated with this parameter.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 427/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
0 Activation of IP communication
0: Communication to power section not possible
The IP communication to the power section is interrupted
and all received IP telegrams for the power section are
cleared.
1: Communication to power section possible
The IP address configured in parameter "P-0-1046" is
transmitted to the power section and communication to
this IP address is activated in the control unit.
1-15 Reserved
Function For power sections with built-in IP communication, a free Class C IP network
must be configured to be used for communication.
A completely free IP network is required because:
● Communication with the power section is via IP routing
● IP addresses from the configured network are automatically assigned by
the power section
The configured IP address takes effect by activating communication to the
power section. Communication is activated with parameter "P-0-1045".
Structure The IP address is a list parameter with the following structure:
Product-specific parameters
Function This parameter defines the time constant of the velocity command value filter.
The filter can be used to improve the overshoot behavior of the velocity con‐
troller.
Function The "velocity mix factor" parameter determines the ratio of the actual velocity
values between the motor encoder and the optional encoder.
See also Functional Description "Notes on Commissioning"
Use The input is percentage-based; the following applies:
0%: The speed controller works solely with the velocity of encoder 1.
100%: The speed controller works solely with the velocity of encoder 2 (op‐
tional encoder).
If no optional encoder is available, the parameter is set to 0%.
Product-specific parameters
Function This parameter allows up to 4 different filters (2nd order) to be activated and
selected. There are two filters available in the "MPE firmware variant", and
there are 8 filters available in the "MPC firmware variant".
See also Functional Description "Velocity controller"
Use
The content of "P-0-1120, Velocity control loop filter: Filter type" consists of 4
elements:
430/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
4.9.4 P-0-1121, Velocity control loop filter: Limit frequency of low pass
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Hardware --
Funct. package(s): --
Device parameter: axis-specific
Function The parameter serves to parameterize the base frequency of the four filters
("firmware variant MPE" features only two filters) which can be selectively ac‐
tivated via "P-0-1120". The value is entered in Hz, i.e., the actual frequency (f
= 1/T) at which damping of -3 dB is intended (weakening of the amplitude to
0.707 of the input amplitude) is entered.
See also Functional Description "Notes on Commissioning"
See also Functional Description "Velocity Loop"
Use
Product-specific parameters
Function The parameter serves to parameterize the bandwidth of the four band-stop
filters ("firmware variant MPE" features only two filters) which can be selec‐
tively activated via P-0-1120 [n] = 2. The value is entered in Hz, i.e., the ac‐
tual frequency (f = 1/T) is entered.
See also Functional Description "Notes on Commissioning"
See also Functional Description "Velocity Loop"
Use
Product-specific parameters
4.9.6 P-0-1123, Vel. cont. loop filter: Center frequency of band-stop filter
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Hardware --
Funct. package(s): --
Device parameter: axis-specific
Function The parameter serves to parameterize the mid-band frequency of the four
band-stop filters ("firmware variant MPE" features only two filters) which can
be selectively activated via P-0-1120 [n] = 2. The value is entered in Hz, i.e.,
the actual frequency (f = 1/T) is entered.
See also Functional Description "Notes on Commissioning"
Use
Product-specific parameters
Function This parameter is used for activating and setting a variable acceleration feed‐
forward in the "velocity control" mode.
See also Functional Description "Velocity Loop"
See also Functional Description "Position Loop"
Use Operating Principle
The differentiated velocity command value (acceleration command value) is
multiplied by the value of parameter "P-0-1126" in order to add (feedforward)
a corresponding additive torque command value.
The feedforward value (additive torque/force command value) can be
smoothed by a subsequent low-pass filter "(P-0-0180)".
Input values
Product-specific parameters
Function As of MPx-17V08
This parameter is the active compensation value of the cogging torque com‐
pensation. It is added to the output of the velocity controller as an additive
torque/force value and is not limited by S-0-0082/S-0-0083.
Use Internal cogging torque compensation:
The drive generates the value from a table with the function being active.
External cogging torque compensation:
A control delivers the value to the drive (e.g., MLD).
Product-specific parameters
Function This parameter is used to activate cogging torque or cogging force compen‐
sation and to set the method for determining the compensation table.
See also Functional Description "Compensation functions / corrections"
Structure The individual bits of the parameter have the following significances:
The cogging torque compensation table extends to one motor revolution (rotary mo‐ Only editable in param‐
tor) or one pole pair distance (linear motor). eter mode (PM).
Product-specific parameters
Tab. 4-144: Relevant bits of P‑0‑1131, Control word of cogging torque compen‐
sation
P-0-1131 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
1: Yes
15… Reserved!
11
Tab. 4-145: Relevant bits of P-0-1133, status word of cogging torque compensa‐
tion
P-0-1133 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function In this parameter, enter the velocity threshold above which the cogging tor‐
que/force compensation values stored in P-0-1131 or P-0-1133 are used in
attenuated form for motor control. At velocities below this velocity threshold,
the compensation values are fully effective!
See also Functional Description of firmware "Compensation Functions / Cor‐
rections"
P-0-1134 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: + Decim. pl.:
S-0-0046
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function In this parameter, the velocity threshold is entered above which the cogging
torque/force compensation values stored in "P-0-1130" or "P-0-1132" are no
longer used for motor control. At velocities below this velocity threshold and
above the threshold of "P-0-1134", the compensation values take effect pro‐
portionately, depending on the velocity! (100% with "P-0-1134", 0% with
"P-0-1135")
See also Functional Description "Compensation Functions / Corrections"
P-0-1135 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: + Decim. pl.:
S-0-0046
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function With active cogging torque compensation, the dead time and dynamic re‐
sponse of the current loop, given high cogging torque frequency, can have a
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 439/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Via this parameter, the command C4800 can be started. By means of this
command, cogging torque compensation values are determined with regard
to a motor position raster with 1024 positions and stored in table form in the
list parameters P-0-1130 or P-0-1132. The command is signaled to have
been completed, when 40 measured values per position raster range are
available for the possible directions of motion of the axis.
See also Functional Description of firmware "Compensation Functions / Cor‐
rections"
P-0-1138 - Attributes Function: Cmd Editable: OM Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter has a multiplicative effect on all values of the cogging torque
compensation tables. The effect of cogging torque compensation can thereby
be intensified or attenuated:
● Permanently over a constant value unequal 100%
● Depending on the status variables of the machining process, by the
master writing values unequal to 100% to "P-0-1139" (e.g., by including
this parameter in the master data telegram [MDT]).
440/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter serves to parameterize the numerator natural frequency of the
four 2nd order filters ("firmware variant MPE" features only two filters) which
can be selectively activated via P-0-1120 [n] = 3. The input value is scaled in
Hz, i.e., the actual frequency (f = 1/T) is entered.
Use The content of "P-0-1140" consists of 4 elements:
● P-0-1140[0] → Numerator natural frequency for 2nd order filter 1
● P-0-1140[1] → Numerator natural frequency for 2nd order filter 2
● P-0-1140[2] → Numerator natural frequency for 2nd order filter 3
● P-0-1140[3] → Numerator natural frequency for 2nd order filter 4
Product-specific parameters
Product-specific parameters
Function The parameter serves to parameterize the numerator damping of the four
2nd order filters ("firmware variant MPE" features only two filters) which can
be selectively activated via P-0-1120 [n] = 3. The input value is not scaled.
Use The content of "P-0-1142" consists of 4 elements:
● P-0-1142[0] → Numerator damping for 2nd order filter 1
● P-0-1142[1] → Numerator damping for 2nd order filter 2
● P-0-1142[2] → Numerator damping for 2nd order filter 3
● P-0-1142[3] → Numerator damping for 2nd order filter 4
Function The parameter serves to parameterize the denominator damping of the four
2nd order filters ("firmware variant MPE" features only two filters) which can
be selectively activated via P-0-1120 [n] = 3. The input value is not scaled.
Use The content of "P-0-1143" consists of 4 elements:
● P-0-1143[0] → Denominator damping for 2nd order filter 1
● P-0-1143[1] → Denominator damping for 2nd order filter 2
● P-0-1143[2] → Denominator damping for 2nd order filter 3
● P-0-1143[3] → Denominator damping for 2nd order filter 4
Product-specific parameters
Function Defines the lower position limit during cogging torque compensation, if an ab‐
solute travel range was defined via bit 1 of parameter "P-0-1131, Control
word of cogging torque compensation".
See also Functional Description "Cogging Torque Compensation"
Use The lower and upper position limits (P-0-1145 and P-0-1146) define the travel
range for recording the cogging torque compensation table. The position
range for which the cogging torque compensation values are filed, is reduced
by the acceleration and deceleration range. Due to the distance required for
acceleration and deceleration to reach the target velocity, the cogging torque
compensation table cannot be recorded over the entire travel range.
P-0-1145 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Defines the upper position limit during cogging torque compensation, if an ab‐
solute travel range is defined via bit 1 of parameter "P-0-1131, Control word
of cogging torque compensation".
See also Functional Description "Cogging Torque Compensation"
Use The lower and upper position limits (P-0-1145 and P-0-1146) define the travel
range for recording the cogging torque compensation table. The position
range for which the cogging torque compensation values are filed, is reduced
by the acceleration and deceleration range. Due to the distance required for
acceleration and deceleration to reach the target velocity, the cogging torque
compensation table cannot be recorded over the entire travel range.
P-0-1146 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Defines the direct component for the cogging torque compensation table in
positive direction, if an absolute travel range is defined via bit 1 of parameter
"P-0-1131, Control word of cogging torque compensation".
See also Functional Description "Cogging Torque Compensation"
Use If the cogging torque compensation table is recorded over an absolute travel
range, it is not possible to automatically determine the direct component be‐
cause the travel range can be unequal to a mechanical revolution or pole pair
width. In order to compensate any possible direct components (continuous
torques or forces), corrective measures can be taken by entering a value.
P-0-1147 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: + Decim. pl.:
S-0-0094
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Defines the direct component for the cogging torque compensation table in
negative direction, if an absolute travel range is defined via bit 1 of parameter
"P-0-1131, Control word of cogging torque compensation".
See also Functional Description "Cogging Torque Compensation"
Use If the cogging torque compensation table is recorded over an absolute travel
range, it is not possible to automatically determine the direct component be‐
cause the travel range can be unequal to a mechanical revolution or pole pair
width. In order to compensate any possible direct components (continuous
torques or forces), corrective measures can be taken by entering a value.
P-0-1148 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: + Decim. pl.:
S-0-0094
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter shows the basic value of the command value generator. The
basic value is displayed in the format of the assigned parameter.
P-0-1150 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 4
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This list parameter contains the IDNs of the parameters which can be entered
in "P-0-1152, Command value generator, target parameter assignment". The
command value generator can act on the following parameters:
● S-0-0037, Additive velocity command value
● S-0-0081, Additive torque/force command value
● P-0-0039, Flux-generating current, command value
● P-0-0059, Additive position command value, controller
P-0-1151 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function In this parameter, enter the IDN of the parameter to which the result of the
command value generator is to be written.
Use By selecting the target parameter, the display (unit and scaling) of these pa‐
rameters are set to the target parameter.
● P-0-1150, Command value generator output
● P-0-1154, Command value generator, offset
● P-0-1155, Command value generator, amplitude
P-0-1152 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to configure the integrated command value generator.
446/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Bit 4 is the only one that can be configured in the signal control
word in "P-0-1153".
Function This parameter is used for setting the direct component (offset) for the selec‐
ted signal (sine, square-wave, noise). The display, i.e. unit and scaling of the
parameter, are set according to the assigned parameter.
P-0-1154 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
min./max.: -214748,3648 /
MPx / PSB: Default value: 0,0000
214748,3647
Product-specific parameters
Function This parameter is used for setting the amplitude (double crest value, peak-to-
peak value). The range of values of the selected signal shape (sine, square-
wave, noise) is between half the plus/minus amplitude. The display, i.e. unit
and scaling of the parameter, are set according to the assigned parameter.
P-0-1155 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 4
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter is used for setting the square-wave signal. For the duration
"P-0-1156, Command value generator, duration 1" the command value gen‐
erator output "P-0-1150, Command value generator, command value" is set
to half the positive amplitude "P-0-1155, Command value generator, ampli‐
tude" plus offset "P-0-1154, Command value generator, offset".
When the duration 1 is over, the output of the command value generator is
set to half the negative amplitude "P-0-1155, Command value generator, am‐
plitude" plus offset "P-0-1154, Command value generator, offset". Duration 2
starts as of this point of time.
P-0-1156 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter is used for setting the square-wave signal for command value
generator.
When duration 1 is over, duration 2 starts. For this duration "P-0-1157, Com‐
mand value generator, duration 2" the command value generator output
"P-0-1150, Command value generator, command value" is set to half the
negative amplitude "P-0-1155, Command value generator, amplitude" plus
offset "P-0-1154, Command value generator, offset". When duration 2 is
over, the output signal is set to the offset "P-0-1154, Command value genera‐
tor, offset" until the periodic time has been reached.
P-0-1157 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used to set the square-wave signal and the sine signal for
the command value generator. After the periodic time has elapsed, signal
output is repeated.
When the command value generator is in sine sweep mode, this parameter is
used to set the duration of the sweep. The time is entered in seconds and re‐
fers to the complete sweep, i.e., the up and down sweep.
P-0-1158 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter specifies the frequency at which the sine sweep generator
starts to wobble.
The firmware does not take a change in this parameter into ac‐
count before the enable bit is set in "P-0-1153, Command value
generator, control word".
Function This parameter specifies the frequency up to which wobbling can be effected
using the sine sweep generator.
The firmware does not take a change in this parameter into ac‐
count before the enable bit is set in "P-0-1153, Command value
generator, control word".
450/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
If one of bits 0...4 has been set in "P-0-1200", it is not the velocity com‐
mand value "S-0-0036" that is used, but a list element from the com‐
mand value memory "P-0-1206". For this purpose, the selection method
can be selected and the current command value, ramp and filter memo‐
ries can be activated or deactivated in parameter "P-0-1214, Control
word 2 velocity control".
Selection method:
– Direct selection (max. 5 command values)
– Binary coding (up to 31 command values)
● Bits 7-5: Run-up stop: The run-up stop function interrupts an accelera‐
tion process of the ramp-function generator, i.e., the output of the ramp-
function generator is frozen. The ramp-function generator can continue
carrying out deceleration processes, i.e., slowing down the drive is al‐
ways possible.
The run-up stop function can be executed as follows:
– Externally selected by user (bit 5 = 1)
– Command value limitation active warnings (bit 6 = 1)
– Torque limitation active (bit 7 = 1)
● Bits 9/8: Motor potentiometer: These bits do not take effect until bit 0 is
set in "P-0-1214, Control word 2 velocity control" and serve to readjust
the ramp acceleration and ramp velocity when the motor potentiometer
function is used.
– Bit 8: "Ramp" - Ramp acceleration or ramp velocity is increased
– Bit 9: "Ramp" - Ramp acceleration or ramp velocity is reduced
If both bits are equal ("00" or "11"), the command value remains
unchanged!
Function The acceleration entered in P-0-1201 takes effect in the "velocity control"
mode during acceleration.
See also Functional Description "Velocity Control"
Use With the acceleration entered in this parameter, the acceleration takes place
from the last effective command value to the new preset command value, as
long as the velocity at the ramp output is smaller than the value entered in
"P-0-1202, Final speed ramp 1".
Influence of P-0-1209
452/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter "P-0-1202, Final speed ramp 1" takes effect in the "velocity
control" mode during acceleration and deceleration.
When exceeding (acceleration) or falling below (deceleration) the velocity in‐
dicated in "P-0-1202, Final speed ramp 1", the pitch of the drive-internal
speed command value ramp changes as follows:
● from the value indicated in "P-0-1201, Ramp 1 pitch" to the value indica‐
ted in "P-0-1203, Ramp 2 pitch" (acceleration)
● or from the value indicated in "P-0-1211, Deceleration ramp 1" to the
value indicated in "P-0-1213, Deceleration ramp 2" (deceleration)
See also Functional Description "Velocity Command Value Reset With Filter
and Ramp"
P-0-1202 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: -- Decim. pl.:
S-0-0046
Cycl. tra.: MDT Comb. check: -- Set-depend.: Grp. 1
Function The acceleration entered in P-0-1203 takes effect in the "velocity control"
mode during acceleration.
With the acceleration entered in this parameter, the acceleration takes place
from the last effective command value to the new preset command value, as
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 453/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
soon as the velocity at the ramp output is greater than the value entered in
"P-0-1202, Final speed ramp 1".
See also Functional Description "Velocity Control"
Use Influence of P-0-1209
If the function "speed masking in command value channel" is used
(P-0-1207, P-0-1208, P-0-1209), the content of P-0-1201 is multiplied with
the content of P-0-1209 and this influences the effective acceleration.
Function This list parameter is used as a memory of fixed command values for velocity
command values. The individual values can be selected via the control word
P-0-1200.
Product-specific parameters
Function In conjunction with the parameter P-0-1208 (upper limit of velocity masking
window), the list parameter P-0-1207 defines four velocity ranges (velocity
windows).
The ranges apply to positive and negative velocities, the definitions of the
ranges are mirrored with regard to speed zero.
Function The list parameter "P-0-1208", in conjunction with the parameter "P-0-1207"
(lower limit of velocity masking window), defines four velocity ranges (velocity
windows).
The ranges apply to positive and negative velocities, the definitions of the
ranges are mirrored with regard to speed zero.
Product-specific parameters
Function The list parameter P-0-1209 contains the acceleration factors that take effect
in the velocity ranges defined with P-0-1207 and P-0-1208.
The ramp generator passes the range of the velocity window (P-0-1207 and
P-0-1208). But the acceleration factors indicated in P-0-1209 have a multiply‐
ing effect on the acceleration and deceleration values or, in the case of alter‐
native scaling of the acceleration, on the ramp times of the ramp generator
(P-0-1201, P-0-1203, P-0-1211 and P-0-1213).
See also Functional Description "Velocity Loop"
Use The effect of P-0-1209 is as follows:
● With P-0-1209 = 1.000 the ramp generator behaves in a neutral way.
● With P-0-1209 > 1.000 the acceleration increases accordingly within the
velocity window.
Product-specific parameters
Function Parameter "P-0-1210" provides information about the current state of the
ramp generator and the current command value for velocity control mode.
Product-specific parameters
Function The deceleration entered in "P-0-1211, Deceleration ramp 1" only takes ef‐
fect in the "velocity control" mode.
With the deceleration entered in this parameter, the deceleration takes place
from the last effective velocity command value to the new velocity command
value as soon as the velocity at the ramp output is smaller than the value in
"P-0-1202, Final speed ramp 1".
See also Functional Description "Velocity Command Value Reset With Filter
and Ramp ("Quick Stop")"
Use Influence of P-0-1209
If the function "speed masking in command value channel" takes effect
(P-0-1207, P-0-1208, P-0-1209), the content of P-0-1211 is multiplied with
the content of P-0-1209 and this influences the effective deceleration.
Function The deceleration entered in "P-0-1213, Deceleration ramp 2" takes effect in
the "velocity control" mode during the braking process.
With the deceleration entered in this parameter, the deceleration takes place
from the last effective velocity command value to the new velocity command
value, as long as the velocity at the ramp output is greater than the value in
parameter "P-0-1202, Final speed ramp 1".
See also Functional Description "Velocity Control"
Use Influence of P-0-1209
If the function "speed masking in command value channel" is used
(P-0-1207, P-0-1208, P-0-1209), the content of P-0-1213 is multiplied with
the content of P-0-1209 and this influences the effective deceleration.
P-0-1213 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0161 /
Unit: S-0-0160 Extr. val. ch.: + Decim. pl.:
S-0-0162
Cycl. tra.: MDT Comb. check: -- Set-depend.: Grp. 1
Product-specific parameters
Function Via this parameter it is possible to control the execution of a velocity control
mode in the operating mode.
See also Functional Description "Velocity Control"
Structure You can make the following settings in this parameter:
Product-specific parameters
Function In conjunction with the motor potentiometer available in the "velocity control"
mode, this parameter is used for the following purposes:
● For linear velocity change: Definition of the velocity change by which the
ramp velocity changes when setting P-0-1214, bit8 ("ramp+") →
ΔP-0-1218 = activation time * [P-0-1215]
● For square velocity change: Definition of the acceleration change by
which the ramp velocity changes within 2 s when setting P-0-1214, bit8
("ramp+") → Δacceleration = activation time * ( [P-0-1215] / 2 s)
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used in conjunction with the motor potentiometer available
in the velocity control mode as follows:
● With a linear change in velocity:
Definition of the change in ramp velocity taking effect on setting of
P-0-1214, bit 9 ("ramp").
→ ΔP-0-1218 = activation time * [P-0-1216]
● With a square change in velocity:
Definition of the change in ramp acceleration taking effect within 2 sec
on setting of P-0-1214, bit 9 ("ramp").
→ Δdeceleration = activation time * ( [P-0-1216] / 2 sec)
Product-specific parameters
Function This parameter takes effect when bit 4 "change by constant velocity step" is
one in "P-0-1214, Motor potentiometer, control parameter".
"P-0-1218, Motor potentiometer, command value", i.e. the velocity command
value, is increased by the velocity value with every positive edge at the ramp
input ramp+ until the positive velocity limit value S-0-0038 has been reached.
With every negative edge at the ramp input ramp- it is reduced by the velocity
value until the negative velocity limit value S-0-0039 has been reached.
See also Functional Description "Velocity Control"
P-0-1217 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: -- Decim. pl.:
S-0-0046
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Function This parameters serves to smooth acceleration jumps in the velocity com‐
mand value characteristic in order to achieve gentle starting and stopping of
the drive in velocity control mode.
See also Functional Description "Velocity Command Value Reset With Ramp
and Filter"
Use In "velocity control" mode, the time constant entered in parameter "P-0-1222"
is used to filter (PT1 filter) the velocity command value (cf. S-0-0036) de‐
formed via the ramp function (cf. P-0-1201, P-0-1202, P-0-1203, P-0-1211,
P-0-01213).
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The effective velocity command value (cf. P-0-0048) at the controller input re‐
sults from the sum of
● the ramped and filtered value in "S-0-0036, Velocity command value"
and
● the direct value in "S-0-0037, Additive velocity command value".
P-0-1222 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: ms Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 1
Function This list parameter is used as memory for the pitch values of the acceleration
ramps. The individual values can be selected via the control word "P-0-1200".
See also Functional Description "Velocity Control"
Structure
P-0-1223 Significance
Elements 1 to 31 Acceleration ramp pitch 1 to 31
Product-specific parameters
Function This list parameter is used as memory for the pitch values of the deceleration
ramps. The individual values can be selected via the control word "P-0-1200".
See also Functional Description "Velocity Control"
Structure
P-0-1224 Significance
Elements 1 to 31 Acceleration ramp pitch 1 to 31
Function This list parameter is used as memory for velocity command value filter time
constants for jerk limitation in the "velocity control" mode. The individual val‐
ues can be selected via the control word P-0-1200.
See also Functional Description "Velocity Control"
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Product-specific parameters
Function Access via "parameters for general purpose" (global registers) can be used
for data exchange between the MLD and a neighboring drive or a higher-lev‐
el control unit or an external operator terminal (e.g., BTV).
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function The parameter is a list register with 1024 elements (of 4 bytes each) and
used for data exchange between the integrated PLC and the drive or a high‐
er-level PLC or control unit.
The display format for this parameter can be individually adjusted with pa‐
rameter "P-0-1386, PLC display format Global Register".
When default values are being loaded, the parameter is cleared (actual
length = 0).
Function The parameter is a list register with 1024 elements (of 4 bytes each) and
used for data exchange between the integrated PLC and the drive or an ex‐
ternal higher-level PLC or control unit.
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The display format for this parameter can be individually adjusted with pa‐
rameter "P-0-1386, PLC display format Global Register".
When default values are being loaded, the parameter is cleared (actual
length = 0).
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function 16-bit control parameter for controlling the drive-integrated PLC (MLD).
With a positive edge the bits activate the corresponding process. By the on‐
line-write function short edges are taken into account, too. While one action is
running, other start edges of this action aren't taken into account. When sev‐
eral edges have been activated, they are processed one after the other from
MSB to LSB.
The end of the actions can be identified in "P-0-1351, PLC status word".
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
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Product-specific parameters
0 RUN
The PLC is put into the status RUN. Only works if a
project was loaded. The status goes to RUN.
1 STOP
The PLC is stopped and goes to the status STOP. After
their current run the tasks aren't started any more.
Attention:
If necessary, running tasks are aborted by force after
their cycle time. The PLC, however, immediately signals
STOP.
2 not used
3 not used
4 RESET hot
The PLC is reset without initializing the retain variables.
The status goes to STOP.
5 RESET cold
The PLC is reset and the retain variables are initialized.
The status goes to STOP.
6 RESET hard
All data of the PLC are cleared. The boot project there‐
by is cleared, too.
7 reload boot project
The boot project in loaded.
The PLC remains in STOP.
15-8 not used
Product-specific parameters
Product-specific parameters
Function Several system files of the PLC are stored in this parameter.
The parameter is administrated by the system and mustn't be changed by the
user.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1352 - Attributes Function: Par Editable: PM Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The PLC boot project is stored in the parameters P-0-1353 - P-0-1358.
Function The PLC boot project is stored in the parameters P-0-1353 to P-0-1358.
Product-specific parameters
Function The PLC boot project is stored in the parameters P-0-1353 to P-0-1358.
Function The PLC boot project is stored in the parameters P-0-1353 to P-0-1358.
Function The PLC boot project is stored in these parameters. The parameter is admin‐
istrated by the system and mustn't be changed by the user.
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Product-specific parameters
Function The PLC boot project is stored in these parameters. The parameter is admin‐
istrated by the system and mustn't be changed by the user.
See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1358 - Attributes Function: Par Editable: PM Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function If a PLC program with retain data is used, the retain data can be saved via
this list parameter and transmitted to other drives.
See also "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
Use The following aspects have to be taken into account:
● The structure of the individual retain data cannot be seen from this pa‐
rameter.
● Reading out or writing data from/to "P-0-1359" must not take place while
the PLC is running, because the data are directly written to or read from
the working memory of the PLC. This would lead to inconsistent data.
● The retain data are initialized whenever the drive detects a changed
boot project. If a new boot project is to be loaded together with
"P-0-1359", any other project that may have been loaded before must
be deleted (MLD basic parameter or P-0-1350).
● The parameter is not included in the list "S-0-0192 IDN-list of all backup
operation data", since otherwise reloading of a drive parameter backup
would overwrite the PLC retain data.
P-0-1359 - Attributes Function: Par Editable: PM Data length: 4Byte var.
Memory: RETAIN_KUNDE Validity ch.: PM->OM Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
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Product-specific parameters
Element Significance
Function This parameter displays the filename of the current MLD project. The name is
assigned to the MLD project during compilation from the project name in In‐
droLogic.
After a HARD reset, the name of the previously opened MLD project is still
displayed.
P-0-1361 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is only used for diagnostic purposes and contains information
regarding the PLC boot project; the information is automatically generated
and entered by the drive when
● the drive is started or
● when the boot project is loaded with IndraLogic.
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Product-specific parameters
Reading the parameter allows clearly identifying the present PLC boot proj‐
ect.
Maximum and actual length of the list parameter always are 322
elements with 4 Bytes each!
Function This parameter is only used for diagnostic purposes and contains information
regarding the PLC project currently loaded in the memory; the information is
automatically generated and entered by the drive when
● the drive is started or
● when the boot project is loaded with IndraLogic.
Reading the parameter allows clearly identifying the currently loaded PLC
project.
Maximum and actual length of the list parameter always are 322
elements with 4 bytes each! The space for strings is completely
filled with 0-characters.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter displays the last available part of the PLC time slice.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1364 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: us Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Product-specific parameters
2026- 2029 7EA-7ED Lower range bounds (*) vio‐ A subrange type has been ex‐ Modify PLC program: Eliminate
lation - %s (see also call ceeded incorrect assignment
stack menu) - RESET to
continue
2031 7EF Invalid pointer access (ad‐ Invalid access with a pointer in Modify PLC program: Eliminate
dress), %s (see also call PLC program. Accesses out‐ incorrect assignment
stack menu) - RESET to side of PLC data ranges cause
continue this error
2032 7F0 Invalid pointer access Invalid access with a pointer in Modify PLC program: Eliminate
(area), %s (see also call PLC program. Accesses out‐ incorrect assignment
stack menu) - RESET to side PLC data ranges cause
continue this error
2033 7F1 Invalid pointer access (write Invalid access with a pointer in Modify PLC program: Eliminate
access on input), %s (see PLC program. Accesses out‐ incorrect assignment
also call stack menu) - RE‐ side of PLC data ranges cause
SET to continue this error
2034 7F2 Invalid pointer access Invalid access with a pointer in Modify PLC program: Eliminate
(alignment), %s (see also PLC program. Accesses out‐ incorrect assignment
call stack menu) - RESET to side of PLC data ranges cause
continue this error
4020 FB4 Error loading symbols - se‐ Memory not sufficient for de‐ Reduce number of symbols or
lect / reduce symbols! fined symbols. use a control section with a
higher-capacity project memory
4021 FB5 Not enough memory for per‐ Memory not sufficient for persis‐ Reduce number of persistent
sistent variables - please re‐ tent variables. variables or use a control sec‐
duce variables! tion with a higher-capacity proj‐
ect memory.
4030 FBE Memory card defective or Memory card missing, memory chkdsk/check and, if necessary,
no memory card available! card defective, FAT defective undo write protection
(chkdsk), file read-only Change memory card
4035 FC3 Boot project too large to Boot project is too large Reduce or, if possible, activate
load! boot project on memory card.
4036 FC4 Error while saving file! MMC missing, MMC defective, chkdsk/check and, if necessary,
FAT defective (chkdsk), file undo write protection
read-only Change memory card
4037 FC5 Please note: Drive is in con‐ PLC program active with axis Attention: While downloading,
trol and stopped when movement and, at the same the controller enable is switched
downloading time, a new PLC is to be loa‐ off
(->AH->AB)! ded.
Product-specific parameters
4081 FF1 Called unallowed POU from Error in system event Modify PLC program: Modify in‐
callback function correct use or programming
See instructions in the task con‐
figuration
4082 FF2 System event not provided Error in system event Modify PLC program: Modify in‐
by this hardware correct use or programming
See instructions in the task con‐
figuration
4083 FF3 System event needs func‐ Error in system event Modify PLC program: Modify in‐
tion named "callback..." correct use or programming
See instructions in the task con‐
figuration
4097 1001 PLC cannot be started dur‐ PLC may not be started during Stop download
ing firmware download firmware download.
4098 1002 PLC cannot be started be‐ PLC may not be started in case Complete commands first
cause drive does not allow it of C54 or C55.
(e.g., C54 or C55 is running)
4099 1003 PLC retain data are invalid Corrupt retain data; maybe Save "P-0-1359" again and re‐
(P-0-1359) - can be deleted hardware defect load project. If error occurs re‐
by reset cold/origin - please peatedly, replace control panel.
contact Support
Function This parameter serves to configure the fundamental behavior of the MLD (in‐
tegrated PLC).
See also "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
Structure
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Product-specific parameters
Product-specific parameters
Function This parameter is a list register with 8192 elements (4 bytes each) and is
used for data exchange of the integrated PLC with the drive or a higher-level
external PLC or control unit.
Use The display format for this parameter can be individually adjusted with
"P-0-1386, PLC display format Global Register".
Product-specific parameters
Function Access via "parameters for general purpose" (global registers) can be used
for data exchange between the MLD and a neighboring drive or a higher-lev‐
el control unit or an external operator terminal (e.g., BTV).
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
Use Single parameter / register with 4 bytes (32 bits)
Observe the following aspects for using the parameter:
● The global registers (G0... G32; A0... A31 and AT0, AT1) do not have
any direct influence on the drive, but only take effect in conjunction with
the MLD.
● The display format for this parameter can be individually adjusted with
"P-0-1386, PLC display format Global Register".
● The content of this parameter is buffered in the event of a control volt‐
age failure. For this reason, non-cyclic settings should be made using
the global registers. Cyclic data to external devices is usually executed
with the process image (PII, POI).
● In contrast to the PII/POI, global registers are not automatically ac‐
cessed at the beginning or the end of the task, but by accessing specific
parameters as required (e.g., by means of MX_ReadParam).
● In addition to "P-0-1370", other available global registers are the follow‐
ing:
– G1... G15: P-0-1371 - P-0-1385
– G16... G31: P-0-1316 - P-0-1331
– A0... A31: P-0-1270 - P-0-1301
P-0-1370 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter is a register with individual values for data exchange of the
PLC with the drive or a higher-level PLC or control unit. The display format
for this parameter can be individually adjusted with "P-0-1386, PLC display
format Global Register". The content of this parameter is buffered in case the
control voltage fails.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1371 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is a register with individual values for data exchange of the
PLC with the drive or a higher-level PLC or control unit. The display format
for this parameter can be individually adjusted with "P-0-1386, PLC display
format Global Register". The content of this parameter is buffered in case the
control voltage fails.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1372 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter is a register with individual values for data exchange of the
PLC with the drive or a higher-level PLC or control unit. The display format
for this parameter can be individually adjusted with "P-0-1386, PLC display
format Global Register". The content of this parameter is buffered in case the
control voltage fails.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1373 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter is a register with individual values for data exchange of the
PLC with the drive or a higher-level PLC or control unit.
The display format for this parameter can be individually adjusted with
"P-0-1386, PLC display format Global Register". The content of this parame‐
ter is buffered in case the control voltage fails.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
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Product-specific parameters
Product-specific parameters
Product-specific parameters
Function This list parameter serves to adjust the display format for the "PLC Global
Registers".
Structure Each element in the list has the following structure:
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Freely usable text parameter with a maximum of 255 characters plus termi‐
nating zero character. It is used for data exchange between the integrated
PLC and the drive or a higher-level PLC or control unit.
The following applies:
● The UTF-8 character set can be written to this parameter.
● Size in number of bytes: 256
● A UTF-8 character can have a size of 1 to 3 bytes.
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Product-specific parameters
Function Freely usable text parameter with a maximum of 255 characters plus termi‐
nating zero character. It is used for data exchange between the integrated
PLC and the drive or a higher-level PLC or control unit.
The following applies:
● The UTF-8 character set can be written to this parameter.
● Size in number of bytes: 256
● A UTF-8 character can have a size of 1 to 3 bytes.
● The number of characters that can be entered may be less, depending
on the UTF-8 characters used.
Function The parameter is a list register with 1024 elements (of 4 bytes each) and
used for data exchange between the integrated PLC and the drive or an ex‐
ternal higher-level PLC or control unit.
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Product-specific parameters
The display format for this parameter can be individually adjusted with pa‐
rameter "P-0-1386, PLC display format Global Register".
When default values are being loaded, the parameter is cleared (actual
length = 0).
See also functional description "Rexroth IndraMotion MLD (Drive PLC)"
See also application manual "Rexroth IndraMotion MLD"
P-0-1389 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter belongs to the I/O channel (process image) which is the con‐
tact of the MLD to external devices, as it allows evaluating and addressing
digital and analog inputs/outputs. In this context, this parameter is used for
displaying and transporting the inputs to the process image of the inputs (PII)
in MLD.
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 505/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Use
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function Parameter for the PLC input image. The parameter contains the process im‐
age of a PLC input (input process image). It contains 16 bits and is assigned
in the corresponding dialog (e.g. "X31/32") of the commissioning software
(e.g. IndraWorks). At the beginning of the task the PLC reads the values from
this parameter to the input process image.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1400 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Parameter for the PLC input image. The parameter contains the process im‐
age of a PLC input (input process image). It contains 16 bits and is assigned
in the corresponding dialog (e.g. "X31/32") of the commissioning software
(e.g. IndraWorks). At the beginning of the task the PLC reads the values from
this parameter to the input process image.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1401 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Parameter for the PLC input image. The parameter contains the process im‐
age of a PLC input (input process image). It contains 16 bits and is assigned
in the corresponding dialog (e.g. "X31/32") of the commissioning software
(e.g. IndraWorks). At the beginning of the task the PLC reads the values from
this parameter to the input process image.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
510/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Parameter for the PLC input image. The parameter contains the process im‐
age of a PLC input (input process image). It contains 16 bits and is assigned
in the corresponding dialog (e.g. "X31/32") of the commissioning software
(e.g. IndraWorks). At the beginning of the task the PLC reads the values from
this parameter to the input process image.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1403 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Parameter for the PLC input image. The parameter contains the process im‐
age of a PLC input (input process image). It contains 16 bits and is assigned
in the corresponding dialog (e.g. "X31/32") of the commissioning software
(e.g. IndraWorks). At the beginning of the task the PLC reads the values from
this parameter to the input process image.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1404 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function Parameter for the PLC input image. The parameter contains the process im‐
age of a PLC input (input process image). It contains 16 bits and is assigned
in the corresponding dialog (e.g. "X31/32") of the commissioning software
(e.g. IndraWorks). At the beginning of the task the PLC reads the values from
this parameter to the input process image.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1405 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Parameter for the PLC input image. The parameter contains the process im‐
age of a PLC input (input process image). It contains 16 bits and is assigned
in the corresponding dialog (e.g. "X31/32") of the commissioning software
(e.g. IndraWorks). At the beginning of the task the PLC reads the values from
this parameter to the input process image.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1406 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Parameter for the PLC input image. The parameter contains the process im‐
age of a PLC input (input process image). It contains 16 bits and is assigned
in the corresponding dialog (e.g. "X31/32") of the commissioning software
(e.g. IndraWorks). At the beginning of the task the PLC reads the values from
this parameter to the input process image.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1407 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter belongs to the I/O channel (process image), which represents
the contact of the MLD to the outside world and in which digital and analog
inputs/outputs can be evaluated and/or addressed. The parameter serves to
display and transporting data from the process image to the outputs (PAA).
See also Application Manual "Rexroth IndraMotion MLD"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 513/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Use
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1419 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1420 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1421 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
518/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1423 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1424 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1425 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1426 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1427 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1428 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1429 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter belongs to the I/O channel (process image) which is the con‐
tact of the MLD to external devices, as it allows evaluating and addressing
digital and analog inputs/outputs. In this context, this parameter is used for
displaying the inputs and accessing the process image of the inputs (PII) to
the process image of the inputs (PII) in the MLD.
See also Application Manual "Rexroth IndraMotion MLD"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 521/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function This parameter can be used to control a PLC program via the standardized
command mechanisms.
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1449 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to input a positioning command value for drive-con‐
trolled positioning via IndraMotion MLD with temporary control or via the set‐
ting-up mode.
Product-specific parameters
Function This parameter is used to input a positioning velocity for drive-controlled posi‐
tioning via IndraMotion MLD with temporary control or via the setting-up
mode.
Product-specific parameters
Function This parameter is used to control the positioning process (e.g., start of posi‐
tioning) for drive-controlled positioning via IndraMotion MLD with temporary
control or via the setting-up mode.
Product-specific parameters
Function This parameter is used for internal analysis of the positioning process for
drive-controlled positioning via IndraMotion MLD with temporary control or via
the setting-up mode.
Function This parameter is used to input a velocity command value in velocity control
via IndraMotion MLD with temporary control or via the setting-up mode.
See also Functional Description "Velocity Control"
See also Functional Description "IndraMotion MLD (Drive-Integrated SPS)"
Use The function of "P-0-1460" complies with "S-0-0036, Velocity command value
", its effectiveness is explained in the Functional Description.
See Application Manual "Rexroth IndraMotion MLD"
528/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used to set a ramp in velocity control via IndraMotion MLD
with temporary control or via the setting-up mode.
See also Functional Description "Velocity Control"
See also Functional Description "IndraMotion MLD (Drive-Integrated SPS)"
Use The function of "P-0-1461" complies with "P-0-1203, Ramp 2 pitch ", its effec‐
tiveness is explained in the Functional Description.
See Application Manual "Rexroth IndraMotion MLD"
P-0-1461 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_MV
S-0-0161 /
Unit: S-0-0160 Extr. val. ch.: -- Decim. pl.:
S-0-0162
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used to input a torque/force command value in torque con‐
trol via IndraMotion MLD-S with temporary control or via the setting-up mode.
Function Using the torque/force ramp time (P-0-1467), the PLC torque/force ramp de‐
fines a pitch for the PLC torque/force command value (P-0-1465) in torque/
fore control PLC operation mode under temporary control or in set-up mode.
In its function, parameter P-0-1466 corresponds to parameter S-0-0822, Tor‐
que/force ramp, whose operating principle is explained in detail in the func‐
tional description.
See also Functional Description "Torque/Force Control"
P-0-1466 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0093 /
Unit: S-0-0086 Extr. val. ch.: -- Decim. pl.:
S-0-0094
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function Using the torque/force ramp (P-0-1466), the PLC torque/force ramp time de‐
fines a pitch for the PLC torque/force command value (P-0-1465) in torque/
fore control operation mode via the drive-internal PLC under temporary con‐
trol or in set-up mode.
In its function, parameter P-0-1467 corresponds to parameter S-0-0823, Tor‐
que/force ramp time, whose operating principle is explained in detail in the
functional description.
See also Functional Description "Torque/Force Control"
P-0-1467 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: ms Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows digital and analog inputs/outputs to
be evaluated and addressed via sercos. In this context, this parameter is
used for displaying and transporting the inputs to the process image of the in‐
puts (PII) in MLD.
See also Functional Description "Rexroth IndraMotion MLD (drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 531/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Use
Product-specific parameters
Function This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows digital and analog inputs/outputs to
be evaluated and addressed via sercos. In this context, this parameter is
used for displaying and transporting the inputs to the process image of the in‐
puts (PII) in MLD.
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
Use The following aspects have to be observed for use:
● The parameter corresponds to the addresses ranging from %IB1200 to
%IB1399 in the input image of the PLC. The parameter has a length of
200 bytes (100 words). This parameter can be linked to a sercos modu‐
lar I/O. For this, it is entered in the "P-0-1628 CCD: Configuration list
master actual values I/Os".
● In addition to "P-0-1470.0.2", other available input registers are the fol‐
lowing:
– 32 bits: P-0-1440 to P-0-1447
– 16 bits: P-0-1391 to P-0-1397; P-0-1398 to P-0-1409
– P-0-1470.0.1, P-0-1470.0.3, P-0-1470.0.4
P-0-1470.0.2 - Attributes Function: Par Editable: ++ Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows digital and analog inputs/outputs to
be evaluated and addressed via sercos. In this context, this parameter is
used for displaying and transporting the inputs to the process image of the in‐
puts (PII) in MLD.
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
Use The following aspects have to be observed for use:
● The parameter corresponds to the addresses ranging from %IB1400 to
%IB1599 in the input image of the PLC. The parameter has a length of
200 bytes (100 words). This parameter can be linked to a sercos modu‐
lar I/O. For this, it is entered in the "P-0-1628 CCD: Configuration list
master actual values I/Os".
● In addition to "P-0-1470.0.3", other available input registers are the fol‐
lowing:
– 32 bits: P-0-1440 to P-0-1447
– 16 bits: P-0-1391 to P-0-1397; P-0-1398 to P-0-1409
– P-0-1470.0.1, P-0-1470.0.2, P-0-1470.0.4
P-0-1470.0.3 - Attributes Function: Par Editable: ++ Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 533/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows digital and analog inputs/outputs to
be evaluated and addressed via sercos. In this context, this parameter is
used for displaying and transporting the inputs to the process image of the in‐
puts (PII) in MLD.
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
Use The following aspects have to be observed for use:
● The parameter corresponds to the addresses ranging from %IB1000 to
%IB1199 in the input image of the PLC. It has a length of 200 bytes
(100 words). This parameter can be linked to a sercos III modular I/O.
For this, it is entered in the "P-0-1628 CCD: Configuration list master ac‐
tual values I/Os".
● The parameter corresponds to the addresses ranging from %IB1600 to
%IB1799 in the input image of the PLC. The parameter has a length of
200 bytes (100 words). This parameter can be linked to a sercos modu‐
lar I/O. For this, it is entered in the "P-0-1628 CCD: Configuration list
master actual values I/Os".
● In addition to "P-0-1470.0.4", other available input registers are the fol‐
lowing:
– 32 bits: P-0-1440 to P-0-1447
– 16 bits: P-0-1391 to P-0-1397; P-0-1398 to P-0-1409
– P-0-1470.0.1, P-0-1470.0.2, P-0-1470.0.3
P-0-1470.0.4 - Attributes Function: Par Editable: ++ Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows digital and analog inputs/outputs to
be evaluated and addressed via sercos. Here, the parameter is used for dis‐
playing and transporting the outputs from the process image of the output
(PIO) of the MLD to the sercos outputs.
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
Use The following aspects have to be observed for use:
● The parameter corresponds to the addresses ranging from %QB1000 to
%QB1199 in the output image of the PLC. The parameter has a length
of 200 bytes (100 words). This parameter can be linked to a sercos
534/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows digital and analog inputs/outputs to
be evaluated and addressed via sercos. Here, the parameter is used for dis‐
playing and transporting the outputs from the process image of the output
(PIO) of the MLD to the sercos outputs.
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
Use The following aspects have to be observed for use:
● The parameter corresponds to the addresses ranging from %QB1200 to
%QB1399 in the output image of the PLC. The parameter has a length
of 200 bytes (100 words). This parameter can be linked to a sercos
modular I/O. For this, it is entered in the "P-0-1627 CCD: Configuration
list master cmd values I/Os".
● In addition to "P-0-1471.0.2", other available input registers are the fol‐
lowing:
16 bits: P-0-1411 to P-0-1417
P-0-1418 - P-0-1429
P-0-1471.0.1, P-0-1471.0.3, P-0-1471.0.4
P-0-1471.0.2 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows digital and analog inputs/outputs to
be evaluated and addressed via sercos. Here, the parameter is used for dis‐
playing and transporting the outputs from the process image of the output
(PIO) of the MLD to the sercos outputs.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 535/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows digital and analog inputs/outputs to
be evaluated and addressed via sercos. Here, the parameter is used for dis‐
playing and transporting the outputs from the process image of the output
(PIO) of the MLD to the sercos outputs.
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
Use The following aspects have to be observed for use:
● The parameter corresponds to the addresses ranging from %QB1000 to
%QB1199 in the output image of the PLC. The parameter has a length
of 200 bytes (100 words). This parameter can be linked to a sercos
modular I/O. For this, it is entered in the "P-0-1627 CCD: Configuration
list master cmd values I/Os".
● The parameter corresponds to the addresses ranging from %QB1600 to
%QB1799 in the output image of the PLC. The parameter has a length
of 200 bytes (100 words). This parameter can be linked to a sercos
modular I/O. For this, it is entered in the "P-0-1627 CCD: Configuration
list master cmd values I/Os".
● In addition to "P-0-1471.0.4", other available input registers are the fol‐
lowing:
16 bits: P-0-1411 to P-0-1417
P-0-1418 - P-0-1429
536/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter contains identification data for the circuit board of the optional
module 1 (control section). It is stored on a memory chip on the circuit board
and data are written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
Product-specific parameters
Function This parameter contains identification data for the circuit board of the optional
module 2 (control section). It is stored on a memory chip on the circuit board
and data are written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
Function This parameter contains identification data for the circuit board of the optional
module 3 (control section). It is stored on a memory chip on the circuit board
and data are written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
538/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter contains identification data for the power section circuit board
(basic device). It is stored on a memory chip on the circuit board and data are
written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
Product-specific parameters
Control section type") and the basic device ("S-0-0140, Controller type"). The
type designation of the control section also implies firmware dependencies.
P-0-1510 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: LT_SP Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains identification data for the basic circuit board of the
control section. It is stored on a memory chip on the circuit board and data
are written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
Product-specific parameters
Function This parameter contains identification data for the circuit board of the optional
module 4 (control section). It is stored on a memory chip on the circuit board
and data are written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
Function This parameter contains the identification data for the circuit board "carrier
board" of the controller. It is stored on a memory chip on the circuit board and
data are written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Structure The parameter contains a list. The following data are included in the ele‐
ments of the list:
Product-specific parameters
Function This parameter contains identification data about the circuit board of the op‐
tional module 5 (control section). It is stored on a memory chip on the circuit
board and data are written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
Product-specific parameters
Function This parameter contains identification data about the circuit board of the op‐
tional module 6 (control section). It is stored on a memory chip on the circuit
board and data are written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
Function This parameter contains identification data for the control section. It is stored
on a memory chip on the control section and data are written to it once when
the circuit board is assembled.
See also Functional Description: "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 543/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter contains identification data for the power section. It is stored
on a memory chip on the power section and data are written to it once when
the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
Product-specific parameters
Function This parameter displays the type designation of the control section. By
means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and thus generates the type
designation.
The type designation of the control section also implies firmware dependen‐
cies.
P-0-1520 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains identification data for the programming module. It is
stored on a memory chip on the control panel and data is written to it once
when the circuit board is assembled.
Use The parameter contains a list. The following data is included in the elements
of the list:
Product-specific parameters
Function Parameter "P-0-1530" contains the MAC address for the engineering inter‐
face which is required within the scope of Ethernet communication. The MAC
address (Media Access Control) is used for unequivocal identification in the
network.
Structure The MAC address is a list parameter with the following structure:
546/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function "P-0-1531" contains the IP address for the engineering interface. This ad‐
dress is required to ensure that the device in the network can be reached via
IP communication.
Product-specific parameters
Function Parameter "P-01532 "contains the network mask for the engineering interface
which is required within the scope of IP communication. Each IP address (In‐
ternet Protocol) consists of a network and a device part. The network mask is
used to distinguish between network and device part.
Structure The network mask is a list parameter with the following structure:
548/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Parameter "P-0-1533" contains the Gateway-address for the engineering in‐
terface which is required within the scope of IP communication.
If the communication node wants to transmit an IP package (Internet Proto‐
col), the network parts of the source IP address and the target IP address are
compared. If they do not match, the IP package is transmitted to the gateway
IP address.
Structure The gateway address is a list parameter with the following structure:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 549/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Use When the command is started, the communication of all devices (hardware,
over which IP communication can take place, cf. network card in the PC), the
settings of which were changed, is aborted. After the command was success‐
fully executed, the IP communication is resumed with the new settings.
The command can be started from the operator panel.
550/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter can be used to make basic settings for IP communication of
the drive.
Structure The individual bits of the parameter have the following significance:
0 Proxy-ARP
0: Active
1: Not active
Proxy-ARP is a mechanism, in which a device (router) re‐
plies to ARP requests for hosts from the other known IP
networks.
1 IP routing
0: Active
1: Not active
2 ARP probe
0: Active
1: Not active
ARP probe is a mechanism for detecting IP address con‐
flicts. In the drive, it is only executed when the IP configu‐
ration or the LINK status is changed.
7-3 Reserved
8 Telnet server
0: Active
1: Not active
TCP port: 23
9 SIS server
0: Active
1: Not active
TCP port: 5002
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 551/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function Besides the size (max. and actual length 8 byte), the parameter contains the
corresponding data array that contains the last message received from the
FSoE master.
P-0-1550 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function Besides the size (max. and actual length 8 byte), the parameter contains the
corresponding data array that contains the last message transmitted to the
FSoE master.
P-0-1551 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Product-specific parameters
Bits 4/3: CCD operation mode for the CCD group. Depending on the applica‐
tion, the appropriate mode must be selected:
● 00: CCD system mode:
Commands for the CCD slaves are triggered by the higher-level control
(remote and external with profile interpreter with profile 0xFFFE and
0xFFFD) or, where appropriate, by the local MLD in the CCD slaves
with constant control and profile type FFFD.
Process data can be exchanged between CCD master and slaves, as
well as between the external control and CCD slaves --> CCD slaves
are known in the external control.
● 01: MLD-M system mode:
The CCD slaves are controlled via MLD in the master drive or via P165x
in the master by the ext. control. Process data are only exchanged be‐
tween CCD master and slaves --> CCD slaves are not known in the ex‐
ternal control.
● 10: CCD basic mode:
Command triggering of CCD slaves can be by higher-level control unit
(remote external, but without profile interpreter) via parameter P165x in
the master, via MLD in the master drive or, where possible, via local
MLD-S with permanent/local control. Process data are only exchanged
between CCD master and slaves --> CCD slaves are not known in the
external control.
Bit 5: Decoupling from CCD phase switchover:
This allows restoring the past behavior in versions below MPC-08:
● 1: No coupling to OM/PM switchover of CCD master:
OM/PM switchover in the CCD master (C02 or C04) does not affect
phase switchover of the CCD group. If the CCD group is in phase 4, a
switchover to PM of the CCD master does not case a phase return to
CCD phase 2. In the CCD slaves, sercos phase startup is decoupled
from the device switchover, with the result that an error occurring during
initialization of the axis does not lead to abortion of the CCD phase
startup (default setting).
● 0: Coupling to PM<->OM switchover of CCD master:
Permanent coupling of CCD phase switchover to OM/PM switchover in
the CCD master. A switchover to PM in the CCD master always results
in specification of CCD phase 2. An error occurring in switchover com‐
mand C02 (OM) of a CCD node always leads to abortion of the CCD
phase startup (past behavior in versions below MPC-08).
Bits 8/7: Error reaction:
● 00: No reaction
In case of an error in a CCD axis, other CCD axes are not automatically
decelerated. A group error reaction has to be explicitly programmed by
the control unit.
● 01: Simple error reaction: In case of errors in a CCD node, warning
E2140 is displayed in the master.
● 10: Master-controlled synchronous error reaction
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 557/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Structure The list parameter (2 bytes per element) has the following structure and con‐
tent:
558/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
When all CCD slaves have been deactivated, X24 has to be con‐
nected to X25 with a sercos cable.
P-0-1601 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Structure The list parameter (2 bytes per element) has the following structure and con‐
tent:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 561/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
● 1 = line at port 1
● 2 = line at port 2
● 3 = line at port 1 and line at port 2
● 4 = dual ring
See also Functional Description "Cross-Communication (CCD)"
Use The actual topology is used to monitor the command topology (see
P-0-1620.003).
P-0-1610.0.3 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Parameter P-0-1610.0.21 is a list parameter with two list element. In the top‐
ology is a line topology, this parameter is filled with the addresses of the CCD
slaves at the end of the lines.. If there is a dual ring, both list elements con‐
tain the value 0.
List element 0 = address of the CCD slave at the end of the line at port 1
List element 1 = address of the CCD slave at the end of the line at port 2
If no slave is connected to anyone port of the CCD master, the associated list
element displays the value 0. This parameter can be used for diagnosing a
ring breakage.
See also Functional Description "Cross Communication (CCD)"
P-0-1610.0.21 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Parameter "P-0-1610.0.30" displays the status of the CCD master, i.e., of the
CCD communication.
Product-specific parameters
Product-specific parameters
● "Error: Values in P-0-1603 and P-0-1636 not equal" Not all of the ad‐
dresses of active slaves entered in "P-0-1636" were found in the actual
topology. There are duplicate addresses or other addresses were found.
Set the address on the slaves or assign remote addresses after having
checked the address topology assignment of "P-0-1636".
● "The CCD motion cycle time is not allowed for motion task" (see Section
"Task System" in Chapter "Basic Functions of Rexroth IndraMotion
MLD").
● "Error: Address of projected drive and I/O must be unique" There may
be no duplicate address for the configured drives and I/Os in "P-0-1601"
and "P-0-1604"!
● "Number of CCD-Slaves not allowed at this mode or cycle time" The
number of slaves in this mode and this cycle time is not allowed.
● "MLDM-Mode not allowed in advanced performance" MLD-M not al‐
lowed with Advanced performance.
● "Error when reading T4min-Time (S-0-1005)" Error while the T4min time
"S-0-1005" of a slave of the drive type is read.
● "Error: IDN in Master CC Connection not allowed" An IDN which is not
cyclically allowed for this connection type (producer/consumer) is para‐
meterized in parameter "P-0-1645.x.6".
● "Error: Length/Typ of Master CC Connection not allowed" The total
length of all data of the CC connection or the type of an IDN of the CC
connection in "P-0-1645.x.6" is not allowed.
● "Error: Configuration real-time bits Master CC" The parameterization of
the real-time bits of a CC connection of the CCD master is faulty (IDN
not suitable for real-time bits). See P-0-1645.x.20/21.
● "Error: Writing I/O x configuration (S-0-1504.0.20)" Error during configu‐
ration of the I/O x S-0-1504.0.20.
● "Error when writing S/P-X-XXXX Slave x (Code 0x....)" An error with
SERCOS code 0xXXXX has occurred during writing parameter S/P-X-
XXXX to slave x via the service channel.
● "Error when reading S/P-X-XXXX Slave x (Code 0x....)" An error with
SERCOS code 0xXXXX has occurred during reading parameter S/P-X-
XXXX from slave x via the service channel.
● "Error at command execution of S/P-0-XXXX Slave x" An error has oc‐
curred during execution of command S/P-0-XXXX on slave x. For more
details, please refer to the slave diagnostics.
● "Timeout for command acknowledgment of S/P-0-XXXX Slave x" The
command S/P-0-XXXX that has been started on slave x was not com‐
pleted within 25 s with or without error.
● "Switching to phase x successfully carried out"
● "Error when switching to phase x (Code 0x…)" An error with code
0xXXXXXX was signaled during SERCOS phase transition (soft phase
switch). It was not possible to switch to SERCOS phase X.
● "Error: Type of SERCOS-I/O x unknown" The type of the SERCOS I/O
is not allowed. It is only allowed to operate SERCOS I/Os for which a
defined length and SCP version 1.1 are entered in parameter S-0-1000
= 0x0101.
● "Error: Length of SERCOS-I/O x not allowed" Error: The length of the
SERCOS I/O data exceeds the allowed length of 48 bytes.
568/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
● "Error: Drive x in P-0-1601 is not an allowed drive type" The drive con‐
figured in P-0-1601 is not supported by the CCD master; no IndraDrive
with expected parameters.
● "Error: I/O x in P-0-1604 is not an allowed I/O type" The I/O configured
in "P-0-1604" is not supported by the CCD master; no compact I/O with
expected SCP version 1.1.
● "Data length for I/O x Output exceeded, P-0-1627" The maximum length
of the output data of an I/O has been exceeded. Correction required in
"P-0-1627".
● "Data length for I/O x Input exceeded, P-0-1628" The maximum length
of the input data of an I/O has been exceeded. Correction required in
"P-0-1628".
● "Data length for MDT drive x exceeded, P-0-1621/25" The maximum
length of the MDT data of a drive has been exceeded. Correction re‐
quired in "P-0-1621" or "P-0-1625".
● "Data length for AT drive x exceeded, P-0-1622/26" The maximum
length of the AT data of a drive has been exceeded. Correction required
in "P-0-1622" or "P-0-1626".
● "Error: Configured IDN P/S-x-xxxx I/O x Output, P-0-1627" The config‐
ured IDN for the output data of the I/O is not allowed. Correction re‐
quired in "P-0-1627".
● "Error: Configured IDN P/S-x-xxxx I/O x Input, P-0-1628" The configured
IDN for the input data of the I/O is not allowed. Correction required in
"P-0-1628".
● "Number of IDN for MDT exceeded drive x" The number of configured
IDNs for a drive is too high. Correction required in "P-0-1621" or
P-0-1623/25.
● "Number of IDN for AT exceeded drive x" The number of configured
IDNs for a drive is too high. Correction required in "P-0-1622" or
P-0-1624/26.
● "Error: Config. IDN P/S-x-xxxx for MDT drive x, P-0-1621/23/25" The
configured IDN for the MDT data of the drive is not allowed. Correction
required in "P-0-1621" or P-0-1623/25.
● "Error: Config. IDN P/S-x-xxxx for AT drive x, P-0-1622/24/26" The con‐
figured IDN for the AT data of the drive is not allowed. Correction re‐
quired in "P-0-1622" or P-0-1624/26.
● "Different number of IDN for MDT drive x, P-0-1623/25" The number of
IDNs configured for the MDT data is different in "P-0-1623" and
"P-0-1625".
● "Different number of IDN for AT drive x, P-0-1624/26" The number of
IDNs configured for the AT data is different in "P-0-1623" and
"P-0-1625".
● "IDN mismatch P/S-x-xxxx for MDT drive x, P-0-1623/25" The IDNs in a
master->slave MDT connection do not match each other, e.g., S-0-0084
-> S-0-0036 (different length). Correction required in "P-0-1623" or
"P-0-1625".
● "IDN mismatch P/S-x-xxxx for AT drive x, P-0-1624/26" The IDNs in a
master<-slave AT connection do not match each other, e.g., S-0-0036 -
> S-0-0084 (different length). Correction required in P-0-1624 or
P-0-1626.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 569/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
● "IDN P/S-x-xxxx is auto.config. for MDT drive x, P-0-1625" The IDN con‐
figured for the MDT is used for internal purposes and cannot be as‐
signed by the user any more. Correction required in P-0-1625.
See also Application Manual "IndraMotion MLD"
P-0-1610.0.30 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter displays a diagnosis code for error "F4140 CDD communica‐
tions error" which does not allow a more detailed diagnosis of the error
cause.
● 0x00000000 = no error
● 0x00000001 = unallowed phase return (P-0-1605 was set to a value un‐
equal to 4 without taking the CCD master into account)
● 0x0001xxxx = Failure of Bus-Slave-Valid in S-Dev of Slave x; slave
does not enter any data in AT (bit 0 = slave 1, bit 1 = slave 2, etc.)
● 0x00020020 = no link at port 1 and port 2
● 0x00020021 = double AT failure
● 0x00022001 = no valid topology detected (line P1, line P2 or dual ring)
See also Functional Description "Cross Communication (CCD)"
P-0-1610.0.31 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function List parameter for configuring the signals (cf. S-0-0026) of the signal status
words in all CCD slaves.
See also Functional Description "Cross Communication (CCD)"
Structure The parameter has a list structure; and the following applies:
● The first 16 list elements are reserved for the virtual slave in the master.
● The next 16 list elements are written to "S-0-0026" of slave 1.
● The next 16 list elements are written to "S-0-0026" of slave 2.
etc.
P-0-1611 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function List parameter for configuring the signals (cf. S-0-0027) of the signal status
words in all CCD slaves.
See also Functional Description "Cross Communication (CCD)"
Structure The parameter has a list structure; and the following applies:
● The first 16 list elements are reserved for the virtual slave in the master.
● The next 16 list elements are written to "S-0-0027" of slave 1.
● The next 16 list elements are written to "S-0-0027" of slave 2.
etc.
P-0-1612 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function List parameter to configure the bits (cf. S-0-0328) of the signal status words
in all CCD slaves.
See also Functional Description "Cross Communication (CCD)"
Structure The parameter has a list structure; the following points apply to it:
● the first 16 list elements are reserved for the virtual slave in the master
● the next 16 list elements are written in S-0-0328 of slave 1
● the next 16 list elements are written in S-0-0328 of slave 2 etc.
P-0-1613 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function List parameter to configure the bits (cf. S-0-0329) of the signal control words
in all CCD slaves.
See also Functional Description "Cross Communication (CCD)"
Structure The parameter has a list structure; the following points apply to it:
● the first 16 list elements are reserved for the virtual slave in the master
● the next 16 list elements are written in S-0-0329 of slave 1
● the next 16 list elements are written in S-0-0329 of slave 2 etc.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 571/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
P-0-1614 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
4.12.20 P-0-1615, CCD: Extrapolated cmd value IDN list signal selection
Allocation Contained in 17VRS: «-» «-» «-» «MPC»
Contained in 18VRS: «-» «-» «-» «MPC»
Contained in 19VRS: «-» «-» «-» «MPC» «-»
Contained in 20VRS: «-» «-» «-» «MPC» «-»
Hardware Controller A-CC
Funct. package(s): --
Device parameter: device-specific
Product-specific parameters
Product-specific parameters
The information in this parameter serves to diagnose the slaves via the topol‐
ogy location and can be adjusted and displayed via the commissioning soft‐
ware "IndraWorks Ds/D/MLD".
The following information is provided for each slave:
● Vendor Code
● Device Name
● Vendor Device ID
● Connected to sub-device
● Serial number
● FSP type
Addressing variant with:
0 = no information or slave not available.
1 = address can be set via switch/control panel; remote address assignment
not possible.
2 = address can be set via switch/control panel or remote address assign‐
ment.
3 = address can only be set via remote address assignment.
Function The topology location is the physical position of the slave at the sercos mas‐
ter interface. Observe the following aspects for the different wiring topologies:
- Line at port 1:
SI 0 = 1st slave at port 1 of the master
SI 1 = 2nd slave at port 1 of the master, etc.
- Line at port 2:
SI 0 = 1st slave at port 2 of the master
SI 1 = 2nd slave at port 2 of the master, etc.
If the configured command topology is a ring, the addresses of the slaves are
displayed in reverse order at port 2 so that, if the ring is interrupted, it is of no
relevance whether the ring is interrupted directly at port 2 of the master or be‐
tween two slaves.
- Ring: same as line at port 1
- 2 lines: same as ring without interruption
"0" means that the parameter in the slave is SI = 0 in each case. There may
also be several SIs in a slave.
See also Functional Description "Cross-Communication (CCD)"
P-0-1619 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
● 1 = line at port 1
● 2 = line at port 2
● 3 = line 1 at port 1 and line at port 2
● 4 = dual ring
Monitoring of the "actual topology" is active if a value unequal to 0 is parame‐
terized in the parameter. If the "actual topology" from "P-0-1610.0.3" is differ‐
ent from the "command topology", the warning "E4016" is output.
See also Functional Description "Cross Communication (CCD)"
Use The command topology from "P-0-1620.0.3" is used to monitor the "actual
topology" (see P-0-1610.0.3).
P-0-1620.0.3 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This command can be used to switch the CCD communication over to
SERCOS phase 2. Parameter "P-0-1605, CCD: Command communication
phase" is set to phase 2. Thereafter, an attempt is made to reach "Phase 2"
via "Phase 0" and "Phase 1". This should be done only if the CCD master is
not in OM because otherwise error "F4140" is output.
See also Functional Description "Cross-Communication (CCD)"
P-0-1620.0.5 - Attributes Function: Cmd Editable: PM Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This command can be used to switch the CCD communication over to
SERCOS phase 4. Parameter "P-0-1605, CCD: Command communication
phase" is set to phase 4. Subsequently, an attempt is made to switch over to
phase 4 via the SERCOS phase startup. During this startup, switching com‐
mands "S-0-0127" and "S-0-0128" of the SERCOS slaves are started. If an
error occurs during this process or during phase switchover, the command is
exited with an error.
See also Parameter Description "P-0-1630, CCD: Diagnosis"
See also Functional Description "Cross-Communication (CCD)"
P-0-1620.0.6 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The CCD master provides the command "P-0-1620.0.21" (C7100) for ring
healing purposes. This allows closing the line or the two lines to the dual ring
in the "command topology" P-0-1620.0.3 = 4 (dual ring). If an error occurs
during the command "C7100", the message "C7101 CCD: Impossible to
close ring" is displayed.
Cause:
● CCD group not in phase 4
● Topology does not consist of a line or dual line
● No line available between the last nodes of the lines.
● New ring delay could not be transmitted to the slave.
See also Functional Description "Cross Communication (CCD)"
P-0-1620.0.21 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to select the modular I/O for which command "C7200
CCD: Command Apply I/O configuration" (1-4) is executed. A value of 0 ap‐
plies the configuration for all modular I/Os.
See also Functional Description "Cross-Communication (CCD)"
576/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Parameter "P-0-1621" serves to configure the command values in "CCD sys‐
tem mode". In the group field bus connection, these command values are
transmitted from the external field bus master via the CCD master to the CCD
slaves in the MDT.
As a result, parameter "P-0-1621" corresponds to a list of command values
which are provided via the master communication command value telegram
(P-0-4081) and which the master directly copies to the MDT CCD interface
for the appropriate CCD slaves.
Product-specific parameters
Product-specific parameters
Parameter "P-0-1621.0.1" refers to the CCD slave with the SERCOS III ad‐
dress which is entered in element 0 of "P-0-1601".
Parameter "P-0-1621.1.1" refers to the CCD slave with the SERCOS III ad‐
dress which is entered in element 1 of "P-0-1601".
In CCD system mode for SERCOC, parameter "P-0-1621.x.1" has the addi‐
tional function of the appropriate master communication parameter
"S-0-1040" for the CCD slaves. Any write or read access to parameter
"S-0-1040" by the SERCOS master is bypassed to parameter "P-0-1621.x.1"
in the CCD master because parameter "S-0-1040" is used for SERCOS III
communication in the CCD slave and can therefore not be used for SERCOS
communication of the high level network.
See also Functional Description "Cross-Communication (CCD)"
P-0-1621.x.1 - Attributes Function: Par Editable: P2 Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function In CCD system mode, parameter "P-0-1621.x.9" has the function of the ap‐
propriate master communication parameter "S-0-0127, C0100 Communica‐
tion phase 3 transition check" for sercos and EtherCAT. In the CCD master,
initiation of the command is bypassed to parameter "P-0-1621.x.9" because
parameter "S-0-0127" is reserved for sercos communication in the CCD
slave.
The appropriate action for the associated master communication slave is car‐
ried out in the CCD master.
See Functional Description "Cross Communication (CCD)"
P-0-1621.x.9 - Attributes Function: Cmd Editable: P23 Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function In CCD system mode, parameter "P-0-1621.x.10" has the function of the ap‐
propriate master communication parameter "S-0-0128, C5200 Communica‐
tion phase 4 transition check" for sercos and EtherCAT. In the CCD master,
initiation of the command is bypassed to parameter "P-0-1621.x.10" because
parameter "S-0-0128" is reserved for sercos communication in the CCD
slave.
The appropriate action for the associated master communication slave is car‐
ried out in the CCD master.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 579/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is required for the SERCOS and EtherCAT gateways in CCD
system mode. It serves to store all parameters of the master communication
slaves for which there are no parameters in the CCD master. These master
communication slave parameters are simulated for the interface.
The parameter is created in binary format (4 bytes variable) and can only in‐
terpreted and displayed with a commissioning program (IndraDrive). This pro‐
gram provides a dialog which displays the data of the parameter and its sig‐
nificance.
See also Functional Description "Cross-Communication (CCD)"
P-0-1621.x.24 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is required for the SERCOS and EtherCAT gateways in CCD
system mode. It serves to display all parameters of the master communica‐
tion slaves which are not stored and for which there are no parameters in the
CCD master. These master communication slave parameters are simulated
for the interface.
The parameter is created in binary format (4 bytes variable) and can only in‐
terpreted and displayed with a commissioning program (IndraDrive). This pro‐
gram provides a dialog which displays the data of the parameter and its sig‐
nificance.
See also Functional Description "Cross-Communication (CCD)"
P-0-1621.x.25 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function In CCD system mode, parameter "P-0-1621.x.35" has the function of the ap‐
propriate master communication parameter "S-0-1024" for SERCOS III. In
the CCD master, initiation of the command is bypassed to parameter
"P-0-1621.x.35" because parameter "S-0-1024" is reserved for the outer
SERCOS III network in the CCD slave. The appropriate action for the associ‐
ated SERCOS III slave is carried out in the CCD master.
P-0-1621.x.35 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function In "CCD system mode", parameter "P-0-1622" serves to configure the actual
values which are transferred from the individual CCD slaves via the CCD
master to the external field bus master in the group field bus connection.
As a result, "P-0-1622" corresponds to a list of actual values which are sup‐
plied by the particular CCD slave via CCD-AT and which the master directly
copies to the master communication actual value telegram (cf. P-0-4080).
Product-specific parameters
Function Parameter "P-0-1623" serves to configure the command values. These are
transmitted from the CCD master to the CCD slaves in the MDT. The list con‐
tains command values which the CCD master files in the MDT (SERCOS III).
Product-specific parameters
Fig. 4-67: Structure of P‑0‑1623, CCD: Configuration list master cmd values
The first 16 list elements are reserved for configuring the data for
the CCD master axis in MLD-M system mode with "virtual slave
operation".
Function Parameter "P-0-1624" serves to configure the actual values. These are trans‐
mitted from the CCD slaves to the CCD master in the AT. The list contains
the IDNs of the data which is put into the AT by the CCD slave and is deter‐
mined for the CCD master. The CCD master internally copies this data to the
parameters mentioned.
Product-specific parameters
Fig. 4-68: Structure of P‑0‑1624, CCD: Configuration list actual master values
The first 16 list elements are reserved for configuring the data for
the CCD master axis in MLD-M system mode with "virtual slave
operation".
Product-specific parameters
Function Parameter "P-0-1625" serves to configure the command values. These are
transmitted from the CCD master to the CCD slaves in the MDT.
The list contains IDNs which are also copied to "S-0-0024, Con‐
figuration list of MDT" of the associated slave. The command val‐
ues are generated by the master. The reference list applicable for
the CCD master is "P-0-1623" or "S-0-1050.1.6 in MPx07 and
above" (e.g., "P-0-0434" -> "S-0-0047").
Fig. 4-69: Structure of P‑0‑1625, CCD: Configuration list slave cmd values
The first 16 list elements are reserved for configuring the data for
the CCD master axis in MLD-M system mode with "virtual slave
operation".
Product-specific parameters
Function Parameter "P-0-1626" serves to configure the actual values. These are trans‐
mitted from the CCD slaves to the CCD master in the AT.
The list contains actual values for the CCD master (internal)
which are put into the SERCOS III AT by the slave. The parame‐
ters of the list are directly copied to the list of cyclic actual values
of the associated slave. Parameter "P-0-1624, CCD: Configura‐
tion list actual master values" describes how the CCD master in‐
terprets this data. The first 16 list elements belong to slave 1, the
next ones to slave 2, etc.
Fig. 4-70: Structure of P‑0‑1626, CCD: Configuration list actual slave values
(CCD Master Configuration List AT Data)
The first 16 list elements are reserved for configuring the data for
the CCD master axis in MLD-M system mode with "virtual slave
operation".
Product-specific parameters
Function This parameter serves to configure the command values which are transmit‐
ted from the CCD master to the sercos I/Os in the MDT.
See also Functional Description "Cross Communication (CCD)"
Structure The configuration list has the following structure:
Fig. 4-71: Structure of P‑0‑1627, CCD: Configuration list master cmd values
I/Os
Use The CCD master puts the data of the parameters contained in the list into the
MDT, and the data is output by the sercos I/O via the latter's outputs. The
outputs of the sercos I/O module can be operated by the MLD writing to the
parameters configured here. A compact I/O has only one 16-bit output port so
that the maximum size of the parameter assigned by the master is 16 bits.
The parameter in element 0 corresponds to the outputs of the first I/O mod‐
ule, element 16 to those of the second one, element 32 to those of the third
one, and element 48 to those of the forth one.
P-0-1627 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter serves to configure the actual values which are transmitted
from the SERCOS III I/Os to the CCD master in the AT.
See also Functional Description "Cross-Communication (CCD)"
Structure The configuration list has the following structure:
Fig. 4-72: Structure of P‑0‑1628, CCD: Configuration List Act. Master Values
I/Os
Use The master writes the AT data from the SERCOS III I/O to the parameters
contained in the list. The inputs of the SERCOS III I/O module can be in‐
quired by the MLD reading the parameters configured here. A compact I/O
can have a 16-bit or 32-bit input port so that a corresponding parameter must
be entered here. The parameter in element 0 corresponds to the inputs of the
first I/O module, element 16 to those of the second one, element 32 to those
of the third one, and element 48 to those of the forth one.
P-0-1628 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter serves to configure the analog compact I/Os connected to the
CCD master and has a direct effect on "S-0-1504.0.20", Parameter channel
output (EIDN) in the S-III I/O module.
Parameter "P-0-1629" can be used to parameterize the behavior of the ana‐
log inputs and outputs. To achieve this, the CCD master writes the content of
the associated 4 elements of "P-0-1629" to the "S-0-1504.0.20" in the appro‐
priate S-III I/O module in phase 2.
The parameter has list structure, with 16 elements being assigned to one S-
III I/O module each. The first 16 elements (0-15) belong to I/O 1, the next 16
elements (16-31) to I/O 2, etc. Only the first elements are used of each ele‐
588/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
ment group (see picture). Parameterization involves only those I/O numbers
which have analog S-III I/O modules assigned to them. To digital I/Os, the
entries of the elements assigned are of no relevance.
See also Functional Description "Cross Communication (CCD)"
Structure The configuration list has the following structure:
Product-specific parameters
Product-specific parameters
Product-specific parameters
Error: The length of the sercos I/O data exceeds the allowed length of
48 bytes.
● Error: Drive x in P-0-1601 is not an allowed drive type
The drive projected in P-0-1601 is not supported by the CCD master (no
IndraDrive with expected parameters).
● Error: I/O[%d] in P-0-1604 is not an allowed I/O type
The I/O configured in P-0-1604 is not supported by the CCD master; no
compact I/O with expected SCP version 1.1.
● Data length for I/O x Output exceeded, P-0-1627
The maximum length of the output data of an I/O has been exceeded.
Correction required in "P-0-1627".
● Data length for I/O x Input exceeded, P-0-1628
The maximum length of the input data of an I/O has been exceeded.
Correction required in "P-0-1628".
● Data length for MDT drive x exceeded, P-0-1621/25
The maximum length of the MDT data of a drive has been exceeded.
Correction required in "P-0-1621" or "P-0-1625".
● Data length for AT drive x exceeded, P-0-1622/26
The maximum length of the AT data of a drive has been exceeded. Cor‐
rection required in "P-0-1622" or "P-0-1626".
● Error: Configured IDN %s I/O[%d] Output, P-0-1627
The configured IDN for the output data of the I/O is not allowed. Correc‐
tion required in "P-0-1627".
● Error: Configured IDN %s I/O[%d] Input, P-0-1628
The configured IDN for the input data of the I/O is not allowed. Correc‐
tion required in "P-0-1628".
● Error when writing analog-I/O x configuration (S-0-1504.0.20)
Error during configuration of the analog I/Os "S-0-1504.0.20".
● Number of IDN for MDT exceeded drive x
The number of IDNs configured for a drive is too high. Correction re‐
quired in "P-0-1621" or "P-0-1623/25".
● Number of IDN for AT exceeded drive x
The number of IDNs configured for a drive is too high. Correction re‐
quired in "P-0-1622" or "P-0-1624/26".
● Error: Config. IDN %s for MDT drive x, P-0-1621/23/25
The configured IDN for the MDT data of the drive is not allowed. Correc‐
tion required in "P-0-1621" or "P-0-1623/25".
● Error: Config. IDN %s for AT drive x, P-0-1622/24/26
The configured IDN for the AT data of the drive is not allowed. Correc‐
tion required in "P-0-1622" or "P-0-1624/26".
● Different number of IDN for MDT drive x, P-0-1623/25
The number of IDNs configured in "P-0-1623" for the MDT data is differ‐
ent from that configured in "P-0-1625".
● Different number of IDN for AT drive x, P-0-1624/26
The number of IDNs configured in "P-0-1623" for the AT data is different
from that configured in "P-0-1625".
● IDN mismatch %s for MDT drive[%d], P-0-1623/25
592/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The master displays the IP addresses of the SERCOS III master communica‐
tion of the CCD slaves in parameter "P-0-1630.x.1". The SERCOS instance
(x) corresponds to the slave index in the CCD group (0 = virtual slave, 1 =
slave 1, etc.). The master reads the IP addresses of the CCD slaves immedi‐
ately after phase 2 has been reached. These IP addresses are displayed in
this parameter.
Parameter in
Description the CCD master Parameter in the drive
127.0.0.1 (P-0-1641 from CCD master is ac‐
Master IP address P-0-1630.0.1
tive)
Slave 1 IP address P-0-1630.1.1 Content from S-0-1020 in slave 1
Slave 2 IP address P-0-1630.2.1 Content from S-0-1020 in slave 2
Function Parameter "P-0-1630.x.2" displays the SERCOS III: Device Status (S-Dev)
(S-0-1045) of the CCD slaves, which is transmitted from the CCD slaves to
the CCD master in the AT. The SERCOS instance (x) corresponds to the
slave index in the CCD group (0 = virtual slave, 1 = slave 1, etc.). This pa‐
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 593/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Parameter P-0-1630.x.3 displays the connection control word (C-Con) of con‐
nection #0 of the CCD slaves, which is transmitted from the CCD slaves to
the CCD master in the AT. The CCD master uses connection #0
(S-0-1050.0.x) of the CCD slaves for classic MS-AT data. The safety technol‐
ogy (SI) is used as slave index (0 = virt. slave, 1 = slave 1, etc.). The parame‐
ter is an image of C-Con of connection #0 in the CCD slave. It is read-only
and can be used for diagnostic purposes.
See also Parameter Description "S-0-1050.0.8, SIII-Connection: Connection
control (C-Con)"
See also Functional Description "Cross Communication (CCD)"
Structure
Bit Designation/function Comment
0 ProducerReady
0: Producer does not generate any valid command values
yet
1: Producer generates valid command values, slave can
process the command values with toggle of bit 1
1 NewData bit
Edge indicates that there is new data in the connection
2 CC DataFieldDelay
1: CC producer data has a SERCOS cycle delay, because
it was copied via the bus master. The consumer shall pre‐
fer taking the data of the port at which this bit has the val‐
ue 0.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Parameter "P-0-1630.x.20" displays the drive status word "S-0-0135" of the
CCD slaves for drive slaves and the I/O status word "S-0-1500.0.2" for I/O
slaves.
The master parameterizes the resource status word to connection #0 of the
CCD slaves. The CCD slaves cyclically transmit the resource status word to
the master. The safety technology (SI) is used as slave index (0 = virt. slave,
1 = slave 1, etc.). For slaves of drive type, this parameter is an image of the
drive status word of the CCD slaves. The parameter is read-only and can be
used for diagnostic purposes.
See also Parameter Description "S-0-0135, Drive Status Word"
See also Functional Description "Cross-Communication (CCD)"
Structure S-0-1500.0.2, I/O status
12 I/O warning
Not supported by EasyIO
13 I/O error
The bit is set if a class 1 diagnostics error is present.
14 Inputs valid
0: Inputs not valid
1: Inputs valid
15 Outputs ready for operation
0: Outputs not active
1: Outputs active
Product-specific parameters
Function This parameter is a dummy parameter which is required for internal configu‐
ration of the fixed MDT and AT data in the system mode.
Product-specific parameters
Function This parameter is a dummy parameter which is required for internal configu‐
ration of the fixed MDT and AT data in the system mode.
Function For the current composition of the modular I/O, please refer to parameter
"S-0-1500.0.3" of the bus coupler.
The list contains all "module type codes" of the inline nodes which are con‐
nected to the bus coupler in their connecting order. Whenever the CCD
phase is started up, the content of parameter "P-0-1634.x.1" is compared
with the content of "S-0-1500.0.3" in the I/O slave to check the I/O for proper
composition. "P-0-1634.x.1" can be defined via command "C7200 CCD:
Command Apply I/O configuration". Values can also be written directly
"P-0-1634.x.1" in order to apply a parameter backup.
See also Functional Description "Cross-Communication (CCD)"
P-0-1634.x.1 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This command is used to set the addresses of the CCD slaves. In this way,
the addresses from "P-0-1636, CCD: command topology" are preset for the
corresponding CCD slaves.
The command topology from P-0-1636 is thereby applied to the CCD slaves.
"List element 0" corresponds to the command address for the first CCD slave
connected to the CCD master. Only in this way is it possible to assign an un‐
equivocal address to the compact I/Os.
See also Functional Description "Cross Communication (CCD)"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 597/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
P-0-1636 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
The counters are running through. Counter levels remain preserved in case
of phase return.
See also Functional Description "Cross Communication"
P-0-1637 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
The counters are running through. Counter levels remain preserved in case
of phase return.
See also Functional Description "Cross Communication"
P-0-1638 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Parameter "P-0-1640" contains the MAC address of the CCD master which is
required within the scope of Ethernet communication. The MAC address (Me‐
dia Access Control) is used for unique identification in the network.
600/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Structure The MAC address is a list parameter with the following structure:
Function "P-0-1641" contains the IP address of the CCD master. This address is re‐
quired to ensure that the device in the network can be reached via IP com‐
munication.
Product-specific parameters
Function Parameter "P-0-1642" contains the network mask of the CCD master as IP
node which is required within the scope of IP communication. Each IP ad‐
dress (Internet Protocol) consists of a network and a device part. The net‐
work mask is used to distinguish between the network and device parts.
Structure The network mask is a list parameter with the following structure:
602/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Parameter "P-0-1643" contains the gateway address of the CCD master as
IP node which is required within the scope of IP communication.
If the communication node wants to transmit an IP package (Internet Proto‐
col), the network parts of the source IP address and the target IP address are
compared. If they do not match, the IP package is transmitted to the gateway
IP address.
Structure The gateway address is a list parameter with the following structure:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 603/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Via the parameter "P-0-1644, CCD: status IP communication", you can read
the status information on the current status of IP communication at the CCD
master of the device.
The parameter contains both general information on IP communication and
device-dependent information for the CCD master in the device.
Structure The general status information on IP communication is preferably contained
in the first 8 bits of parameter P-0-1644. The bits 8 to 31 contain the device-
dependent information for the CCD master.
The individual bits of the parameter have the following significance:
Product-specific parameters
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Function This parameter contains the configuration data of a CC connection with par‐
ticipation of the CCD master.
This data consists of:
● Activate configuration
● Connection type
● Configuration source
● Configuration type
● Clock generation (producer)
● Monitoring mechanism (consumer)
606/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
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Function The telegram assignment defines at which position (telegram offset) and in
which telegram (MDT or AT, telegram number) the connection is. The tele‐
gram offset points to the connection control (C-Con) of this connection. The
parameter describes the CC connection with participation of the CCD master.
Since the CCD master generates the telegram structure itself, this parameter
is for display purposes only.
Structure
Bit Designation/function Comment
Function With this parameter, the CCD master shows how many bytes it allows for this
connection. The 2 bytes are included for the connection control C-Con.
P-0-1645.x.4 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function With this parameter, the CCD master shows how many bytes are currently
required for this connection. The 2 bytes are included for the connection con‐
trol C-Con.
The date of this parameter is made available by the CCD master for all con‐
figuration types which can be set (P-0-1645.0.1, CCD connection: Configura‐
tion) and is always updated after "P-0-1645.0.6, CCD connection: Configura‐
tion list" has been written.
P-0-1645.x.5 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter describes the CC connection with participation of the CCD
master.
This parameter contains the IDNs (4 bytes) which are cyclically transmitted in
this connection. The content only takes effect in configuration type
00: Configuration with EIDNs (P-0-1645.0.1, CCD connection: Configuration).
With this configuration type, the CCD master determines parameter
"P-0-1645.0.5, CCD connection: Current length of connection" from the con‐
tent of this parameter.
P-0-1645.x.6 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter contains the image of the connection control (C-Con) of the
connection. This applies to producer and consumer connections.
Structure
Bit Designation/function Comment
0 ProducerReady
0: Producer does not generate any valid command values
yet
1: Producer generates valid command values Slave can
apply command values by toggling bit 1
1 NewData bit
Edge indicates that there is new data in the connection
2 CC DataFieldDelay
1: CC producer data has a SERCOS cycle delay, because
it was copied via the bus master. The consumer shall pre‐
fer taking the data of the port at which this bit has the val‐
ue 0.
3 ProducerSynchonized
0: The PLL of the producer is not synchronized with the
clock of the ring
1: The PLL of the producer is synchronized with the clock
of the ring
6 Real-time bit 1
7 Real-time bit 2
Product-specific parameters
Function This parameter displays the current status of each single connection.
Structure The displayed value (state) of the connection state machine depends on the
connection type (producer, consumer):
Product-specific parameters
Function This parameter indicates the cycle time within which the producer updates
the data of the cyclic connection. In addition, the NewData bit in the connec‐
tion control word is toggled. The consumer of the connection uses the time as
monitoring time to detect failures. The number of failures is displayed in
"P-0-1645.0.12, CCD connection: Error counter data losses".
The parameter describes the CC connection with participation of the CCD
master.
P-0-1645.x.10 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: us Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter indicates the number of allowed losses of producer data, be‐
fore a connection is considered to be broken, the consumer does not process
data anymore and sets the Err-Con bit for the bus master in the device status
(S-Dev, S-IF).
The parameter describes the CC connection with participation of the CCD
master.
P-0-1645.x.11 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter indicates how many losses of producer data the consumer
has already detected. This counter is without overflow and ends with 65535.
The counter will be reset through the positive edge of ProducerReady in the
connection control (C-Con).
P-0-1645.x.12 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter contains the IDN assignment (4Byte) of the real-time bits in
the connection control (C-Con). The list contains a maximum of 2 IDNs. The
bit assignment takes place in parameter "P-0-1645.0.21, CCD connection: Bit
allocation of real-time bit".
The parameter describes the CC connection with participation of the CCD
master.
P-0-1645.x.20 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains the bit assignment of the real-time bits parameter‐
ized in "P-0-1645.0.20, CCD connection: IDN allocation of real-time bit". The
list contains a maximum of 2 bit offsets with values from 0... 31.
The parameter describes the CC connection with participation of the CCD
master.
P-0-1645.x.21 - Attributes Function: Par Editable: ++ Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
● In CCD basic mode and CCD system mode, direct writing to the param‐
eters is allowed with a parallel interface and sercos master communica‐
tion.
P-0-1651 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function In parameter "P-0-1660.0.2", the sercos III: device control word (S-0-1044) of
the CCD slaves is shown, which is transferred from the CCD master to the
CCD slaves in the MDT telegram. The safety technology (SI) is used as slave
index (0 = virt. slave, 1 = slave 1, etc.).
This parameter is an image of the Device Control (C-Dev) of the CCD slaves.
It is read-only and can be used for diagnostic purposes.
See also Functional Description "Cross Communication (CCD)"
P-0-1660.x.2 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
0 ProducerReady:
0: Producer does not generate any valid command values
yet
1: Producer generates valid command values, slave can
process the command values with toggle of bit 1
1 NewData bit:
Edge indicates that there is new data in the connection
2 CC-DataFieldDelay:
1: CC producer data has a sercos cycle delay, because it
was copied via the bus master. The consumer shall prefer
taking the data of the port at which this bit has the value 0.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
12 I/O warning
Not supported by EasyIO
13 I/O error
The bit is set if a class 1 diagnostics error is present.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
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See also "P-0-1671, CCD: Active actual position value, slave 1"
See also Functional Description "Cross Communication (CCD)"
P-0-1678 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
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Product-specific parameters
The parameter in the CCD master contains the bits corresponding to the con‐
tent of the signal status word (S-0-0144) in the CCD slave. Parameterization
is done via:
● P-0-1611, CCD: Configuration list signal status word
● P-0-1613, CCD: Assignment list signal status word
Product-specific parameters
Product-specific parameters
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Function This parameter is used to configure the CCD communication in the CCD
master.
See also Functional Description "Cross communication (CCD)"
Structure The bits of the configuration word have the following significances and func‐
tions:
Product-specific parameters
1: Active
4/3 CCD operating mode
00: CCD system mode
01: MLD-M system mode
10: CCD basic mode
5 Decoupling from CCD phase switch
0: Coupled to OM/PM switching of CCD master (behavior
in the past)
1: Not coupled to OM/PM switching of CCD master (de‐
fault setting)
6 Synchronization of system times
0: Function is switched off
1: The system time (P-0-0197) of the CCD master is dis‐
tributed to the CCD slaves on CCD phase progression
8/7 CCD error reaction:
00: No reaction:
There is no reaction to errors of the CCD node. Any de‐
sired reaction has to be programmed in the control unit.
01: Simple error reaction:
In case of errors in a CCD node, warning "E2140" is dis‐
played in the master.
10: Master-controlled synchronous error reaction:
If this error reaction is active, parameter P-0-1808.x.1, Di‐
agnostic message number slave x is cyclically evaluated
and accordingly reacts to the other slaves in the master.
Bit 10 can be used to select whether "P-0-1808.x.1" and
"S-0-0390" are configured automatically for all slaves.
11: Automatic complete error reaction:
As soon as an error occurs in an axis, all axes are decel‐
erated as parameterized in "P-0-0119". Error F2140/
E2140 is set in the master.
9 Only in effect if bit 8/7 = 10
Definition of the reaction of the CCD master to an F8xxx
error in the CCD group.
0: Torque disable; master clears "Drive enable" in the
master control word of the CCD slaves
1: Best possible deceleration; master clears "Drive on" in
the master control word of the CCD slaves
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Bit 1: Activating optional functions in CCD system mode for sercos (Gate‐
way):
With the setting it is possible to distinguish two timing options to synchronize
the command values and actual values of CCD mter and CCD slaves.
● Bit 1 = 0: In CCD group, faster timing is run than in master communica‐
tion group. A master communication cycle time of 4 ms and 2 ms results
in a CCD cycle time of 1 ms, for example. This facilitates faster connec‐
tions in the CCD group. The CCD timing depends on the possibilities of
the CCD slaves. The low cycle times can also cause restrictions for the
CCD slaves (possible operation modes, max. quantity of cyclyc data,
etc.).
●
Bit 1 = 1: Timing of the master communication group is applied to the
CCD group. With master communication cycle time of 2 ms, for exam‐
ple, only this cycle time is possible in the CCD group.
Bit 4/3: CCD operating mode for the CCD group. Depending on the applica‐
tion, the appropriate mode has to be selected:
● 00: CCD system mode:
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Commands for the CCD slaves are triggered by the higher-level control
(remote and external with profile interpreter with 0xFFFE and 0xFFFD
profiles) or, where appropriate, by the local MLD in the CCD slaves with
permanent control and FFFD profile type.
Process data can be exchanged between CCD master and slaves, as
well as between the external control and CCD slaves. --> CCD slaves
are known in the external control.
● 01: MLD-M system mode:
Commands for the CCD slaves are triggered via MLD in the master
drive. Process data are only exchanged between CCD master and
slaves --> CCD slaves are not known in the external control.
● 10: CCD basic mode:
The CCD slaves can be commanded by the higher-level control (remote
and external, but without profile interpreter) via parameter P-0-1806.x.11
in the master, via MLD in the master drive or, where appropriate, via the
local MLD-S with permanent/local control. Process data are only ex‐
changed between CCD master and slaves --> CCD slaves are not
known in the external control.
Bit 5: Decoupling from CCD phase switch
This allows restoring the past behavior in versions below MPC-08:
● 1: No coupling to OM/PM switching of CCD master:
OM/PM switching in the CCD master (C02 or C04) does not affect
phase switch of the CCD group. If the CCD group is in phase 4, switch‐
ing to PM of the CCD master does not cause a phase return to CCD
phase 2. In the CCD slaves, sercos phase progression is decoupled
from the device switching, with the result that an error occurring during
initialization of the axis does not lead to abortion of the CCD phase pro‐
gression (default setting). In case of sercos or EtherCat master commu‐
nication, CCD phase switch is coupled to master communication phase
switch in CCD system mode.
● 0: Coupling to PM<->OM switching of CCD master:
Permanent coupling of CCD phase switch to OM/PM switching in the
CCD master. Switching to PM in the CCD master always results in
specification of CCD phase 2. An error occurring in transition command
C02 (OM) of a CCD node always leads to abortion of the CCD phase
progression (past behavior in versions below MPC-08).
Bit 8/7: Error reaction:
● 00: No reaction
In case of an error in a CCD axis, other CCD axes are not automatically
decelerated. A group error reaction has to be explicitly programmed by
the control unit.
● 01: Simple error reaction: In case of errors in a CCD node, warning
E2140 is displayed in the master.
● 10: Master-controlled synchronous error reaction
If the error reaction is active, parameter "P-0-1808.x.1, Diagnostic mes‐
sage number slave x" is cyclically evaluated. For this purpose,
"P-0-1808.x.1" has to be configured for each slave in "P-0-1805.x.2". In
"P-0-1805.x.4", the parameter "S-0-0390" has to have been entered at
the corresponding place. The error reactions of both master and slaves
are dependent on the error number detected.
● 11: Automatic complete error reaction:
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
If the CCD master detects that an axis in the CCD group (master or
slave) signals a class 1 diagnostics error, all axes are decelerated as
parameterized in "P-0-0119". The CCD master outputs error "F2140
CCD slave error". If the CCD master is not in control, only warning
E2140 is displayed.
Bit 10: Master-side CCD error reaction (only in case of a master-controlled
synchronous error reaction)
● If a slave in the CCD axis group is not to participate in the activated
error reaction in the master, the automatic parameterization of the slave
diagnosis for all slaves has to be switched off with bit 10 of
"P-0-1800.0.1". In this case, the entries for the diagnostic message
numbers of the slaves to participate in the error reaction have to be
made manually in "P-0-1805.x.2" and "P-0-1805.x.4".
(P-0-1805.x.2[i] = P-0-1808.x.1 and P-0-1805.x.4[i] = S-0-0390)
Bit 14: SWC (Single Wire Coexistence)
● With SWC support active, no sercos telegrams are output at the last
CCD slave of a line. Hotplug is not possible with active SWC. If a CCD
slave not supporting the function is detected in Sercos phase "0", a
warning is displayed.
P-0-1800.0.1 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: + Set-depend.: --
Function This parameter can be used to control the functions of the CCD master dur‐
ing ongoing operation. The parameter is not stored.
Structure
Bit Designation/function Comment
0 Target phase
0: Synch. osci. function in CCD master deactivated (de‐
fault)
1: Synch. osci. function in CCD master activated
Product-specific parameters
Function This parameter can be used to parameterize the allowed telegram failures
before error F4140 is trigger.
The parameter specifies the number of allowed telegram failures (MDT or
AT) which may occur directly one after the other in phase 4, before the drive
triggers an F4 error. The parameter can be changed and is retained in the
parameter memory (default value = 1).
See also Functional Description "Cross-Communication (CCD)"
P-0-1800.0.5 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter can be used to set a CCD cycle time shorter than the master
communication cycle time "S-0-0001" or S-0-1050.x.10 (consumer connec‐
tion) of the CCD master.
See also Functional Description "Cross communication (CCD)"
Use The resulting NC cycle time which the CCD master specifies for the CCD
slaves in "S-0-1050.x.10", results from the lower value of "S-0-0001" or
S-0-1050.x.10 (consumer connection) of the CCD master and
"P-0-1800.0.10" of the master. That is to say, if the value in "P-0-1800.0.10,
CCD cycle time" is unequal 0 and lower than the master communication cy‐
cle time of the master, "P-0-1800.0.10" is specified as the connection cycle
time for the CCD slaves.
Product-specific parameters
Function Parameter "P-0-1800.0.21" stores the sum total of all CC connections speci‐
fied by configurators. It is required for initializing the overall system after re‐
start or for parameter backup.
The parameter serves to store all connections which CC configurators repor‐
ted to the CCD master via parameter "P-0-1800.0.20".
P-0-1800.0.21 - Attributes Function: Par Editable: CCD_P2 Data length: 1Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function P-0-1800.0.22 serves for diagnosing all connections of the CCD group.
P-0-1800.0.22 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
4.13.9 P-0-1800.0.30, CCD: Extrapolated cmd value IDN list signal selection
Allocation Contained in 18VRS: «-» «-» «-» «MPC»
Contained in 19VRS: «-» «-» «-» «MPC» «-»
Contained in 20VRS: «-» «-» «-» «MPC» «-»
Hardware Controller A-CC
Funct. package(s): --
Device parameter: device-specific
Alias: P-0-1615
Function The transmission delay between CCD master and slaves must be compensa‐
ted for which reason the command value for the slaves is extrapolated. This
is achieved by means of parameter "P-0-1800.0.30" which serves as a selec‐
tion list for parameterizing "P-0-1800.0.31".
See also Functional Description "Cross-Communication (CCD)"
P-0-1800.0.30 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The transmission delay between CCD master and slaves must be compensa‐
ted for which reason the command value for the slaves is extrapolated. To
achieve this, parameter "P-0-1800.0.31" is used for configuring the CCD
master signal used for extrapolation.
Function The transmission delay between CCD master and slaves must be compensa‐
ted for which reason the command value for the slaves is extrapolated. To
achieve this, the number of extrapolation steps to be taken is specified in
"P-0-1800.0.32".
See also Functional Description "Cross-Communication (CCD)"
Use Observe the following aspects when setting "P-0-1800.0.32":
● The extrapolation covers n sercos cycles.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The transmission delay between CCD master and slaves must be compensa‐
ted for which reason the command value for the slaves is extrapolated. To
achieve this, the extrapolated command value is entered in "P-0-1800.0.31"
and can then be assigned to the slaves (P-0-1805.x.1[i] = P-0-1800.0.33).
See also Functional Description "Cross-Communication (CCD)"
P-0-1800.0.33 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used in conjunction with the drive cross communication
(CCD). All addresses of the CCD slaves (drives and I/Os) connected to the
CCD master must be specified in ascending order of their topology (list ele‐
ment 0 corresponds to the CCD slave directly next to the CCD master, etc.).
Each address may be assigned only once.
If drives are projected in "P-0-1801.0.10" or I/Os in "P-0-1801.0.11", which
are not contained in "P-0-1801.0.2", this will result in warning "E4013 Incor‐
rect CCD addressing" when the CCD phase is started up.
The command and actual topologies must always be identical. The monitor‐
ing order is not defined. All addresses must be available and "P-0-1801.0.3,
CCD: Actual topology addresses" or "P-0-1801.0.2" may not contain any fur‐
ther or other addresses.
Either the entries in "P-0-1801.0.2" must be adjusted to the actual topology or
the addresses of the CCD slaves must be set to the command topology by
means of command "C7000 CCD: Command Adjust slave addresses".
See also Functional Description "Cross-Communication (CCD)"
Structure The list parameter (2 bytes per element) has the following structure and con‐
tent:
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used in conjunction with the drive cross communication
(CCD). It displays the addresses of the sercos slaves (drives and I/Os) found
in phase 0, in ascending order according to their topology (list element 0 cor‐
responds to the CCD slave directly at the CCD master, etc.). Only the slaves
contained in this list can be addressed in CCD phase 2 and higher phases.
Up to phase 2, multiple addresses can exist.
If "P-0-1801.0.10" contains drives not contained in "P-0-1803.0.11", warning
"E4013" or "C0265" is generated while command "C0200" is executed.
If the command topology in "P-0-1801.0.2" differs from the actual topology,
warning "E4013" is generated. Switching on to CCD phase 3 or 4 is impossi‐
ble.
The content of command and actual topologies must always be identical. Ei‐
ther the entries in "P-0-1801.0.2" must be adjusted to the actual topology or
the addresses of the CCD slaves must be set to the command topology by
means of command "P-0-1801.0.5, C7000 CCD: Command adjust slave ad‐
dresses".
See also Functional Description "Cross-Communication (CCD)"
Structure The list parameter (2 bytes per element) has the following structure and con‐
tent:
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function Command P-0-1801.0.5 is used to set the addresses of the CCD slaves. The
addresses from "P-0-1801.0.2, CCD: Command topology addresses" are
specified to the corresponding CCD slaves and applied to the CCD slaves.
"List element 0" corresponds to the command address for the first CCD slave
which is connected to the CCD master. This is the only way to assign a
unique address, e.g., to the compact I/Os.
See also Functional Description "Cross-Communication (CCD)"
P-0-1801.0.5 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used along with the drive cross communication (CCD) to
list the addresses of the CCD slaves (drives) projected in the CCD group,
thus establishing the assignment of the actual drive address and drive num‐
ber (logical drive address) in the CCD group.
If all projected drives are detected (P-0-1801.0.3), the addresses are entered
in the same order as given in "P-0-1801.0.10" and applied to "P-0-4031". The
order can be selected as desired and is applied after the address of the CCD
master according to "P-0-4031" (P0 -> P1). On transition to P2, it is verified
whether the addresses projected here are also of the drive type.
See also functional description "Cross communication (CCD)"
682/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Structure The list parameter (2 bytes per element) has the following structure and con‐
tent:
P-0-1801.0.10 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used along with the drive cross communication (CCD) to
list the addresses of the CCD slaves (I/Os) projected in the CCD group, thus
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 683/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
establishing the assignment of the actual I/O address and I/O number (logical
I/O address) in the CCD group.
If all projected I/Os are detected (P-0-1801.0.3), the addresses are entered in
the same order as given in "P-0-1801.0.11" and applied to "P-0-4031". The
order can be selected as desired and is applied after the drive addresses ac‐
cording to "P-0-4031" (P0 -> P1). On transition to P2, it is verified whether the
addresses projected here are also admissible I/Os.
See also functional description "Cross communication (CCD)"
Structure The list parameter (2 bytes per element) has the following structure and con‐
tent:
Product-specific parameters
The removed CCD slave can be afterwards added again to the CCD
group by means of the hot-plug mechanism.
P-0-1801.0.11 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Parameter "P-0-1801.0.21" displays the actual topology (status of the sercos
ring) of the slave interfacing.
● 0 = no line at port and port 2
● 1 = line at port 1
● 2 = line at port 2
● 3 = line at port 1 and line at port 2
● 4 = dual ring
See also Functional Description "Cross-Communication (CCD)"
Use The actual topology is used to monitor the command topology (see
P-0-1801.0.20).
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 685/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Parameter "P-0-1801.0.22" is a list parameter with two list elements. If the
topology is a line topology, this parameter is filled with the addresses of the
CCD slaves at the end of the lines. If there is a dual ring, both list elements
contain the value 0.
List element 0 = address of the CCD slave at the end of the line at port 1
List element 1 = address of the CCD slave at the end of the line at port 2
If no slave is connected to anyone port of the CCD master, the associated list
element displays the value 0. This parameter can be used for diagnosing a
ring breakage.
See also Functional Description "Cross-Communication (CCD)"
P-0-1801.0.22 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The CCD master provides command "P-0-1801.0.22" (C7100) for ring heal‐
ing purposes. This allows closing the line or the two lines to the dual ring in
the "command topology" P-0-1801.0.20 = 4 (dual ring). If an error occurs in
command C7100, the message C7101 CCD: Impossible to close ring is dis‐
played.
Cause:
● CCD group not in phase 4
● Topology does not consist of a line or dual line
● No line available between the last nodes of the lines.
● New ring delay could not be transmitted to the slave.
See also Functional Description "Cross-Communication (CCD)"
P-0-1801.0.23 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This command can be used to switch the CCD communication over to sercos
phase 2. Parameter "P-0-1802.0.3, CCD: Command communication phase"
is set to phase 2. Thereafter, an attempt is made to reach "Phase 2" via
"Phase 0" and "Phase 1". This should be done only if the CCD master is not
in OM because otherwise error "F4140" is output.
See also Functional Description "Cross-Communication (CCD)"
P-0-1802.0.1 - Attributes Function: Cmd Editable: PM Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This command can be used to switch the CCD communication over to sercos
phase 4. Parameter "P-0-1802.0.3, CCD: Command communication phase"
is set to phase 4. Subsequently, an attempt is made to switch over to phase 4
via the sercos phase startup. During this startup, switching commands
"S-0-0127" and "S-0-0128" of the sercos slaves are started. If an error occurs
during this process or during phase switchover, the command is exited with
an error.
See also Parameter Description "P-0-1810.0.10, CCD: Diagnosis"
See also Functional Description "Cross-Communication (CCD)"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 687/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used to specify the command phase for the CCD group.
Function This parameter displays the current actual communication phase of the CCD
group.
Product-specific parameters
In CCD system mode, parameter "P-0-1803.x.1" has for sercos the additional
function of the appropriate master communication parameter "S-0-1040" for
the CCD slaves. Any write or read access to parameter "S-0-1040" by the
sercos master is bypassed to parameter "P-0-1803.x.1" in the CCD master
because parameter "S-0-1040" is used for sercos communication in the CCD
slave and can therefore not be used for sercos communication of the high
level network.
See also Functional Description "Cross-Communication (CCD)"
P-0-1803.x.1 - Attributes Function: Par Editable: P2 Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 689/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function In CCD system mode, parameter "P-0-1803.x.20" has the function of the ap‐
propriate master communication parameter "S-0-0127, C0100 Communica‐
tion phase 3 transition check" for sercos and EtherCAT. In the CCD master,
initiation of the command is bypassed to parameter "P-0-1803.x.20" because
parameter "S-0-0127" is reserved for sercos communication in the CCD
slave.
The appropriate action for the associated master communication slave is car‐
ried out in the CCD master.
Product-specific parameters
Function In CCD system mode, parameter "P-0-1803.x.21" has the function of the ap‐
propriate master communication parameter "S-0-0128, C5200 Communica‐
tion phase 4 transition check" for sercos and EtherCAT. In the CCD master,
initiation of the command is bypassed to parameter "P-0-1803.x.21" because
parameter "S-0-0128" is reserved for sercos communication in the CCD
slave.
The appropriate action for the associated master communication slave is car‐
ried out in the CCD master.
Function In CCD system mode, parameter "P-0-1803.x.22" has the function of the ap‐
propriate master communication parameter "S-0-1024" for sercos. In the
CCD master, initiation of the command is bypassed to parameter
"P-0-1803.x.22" because parameter "S-0-1024" is reserved for the outer
sercos network in the CCD slave. The appropriate action for the associated
sercos slave is carried out in the upper network of the CCD gateway.
Product-specific parameters
Function The parameter is required for the Sercos and EtherCat gateway in the CCD
system mode. It is used to save all parameters of the master communication
slaves for which there are no parameters available in the CCD master. These
master communication slave parameters are simulated for the interface.
The parameter is of binary format (4 bytes variable) and can only be interpre‐
ted and displayed with a commissioning program (IndraWorks). The "CCD:
Sercos III gateway configuration" dialog displays the data of the parameter
with their significances.
See also Functional Description "Cross communication (CCD)"
P-0-1803.x.24 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is required for the sercos and EtherCAT gateways in CCD
system mode. It serves to display all parameters of the master communica‐
tion slaves which are not stored and for which there are no parameters in the
CCD master. These master communication slave parameters are simulated
for the interface.
The parameter is created in binary format (4 byte variable) and can only be
interpreted and displayed with a commissioning program (IndraDrive). This
program provides a dialog which displays the data of the parameter and its
significance.
See also Functional Description "Cross-Communication (CCD)"
P-0-1803.x.25 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function List parameter for configuring the signals (S-0-0026) of the signal status
words in all CCD slaves.
Function List parameter for configuring the signals (S-0-0027) of the signal status word
in all CCD slaves.
Product-specific parameters
Function List parameter for configuring the bits (S-0-0328) of the signal status words in
all CCD slaves.
Function List parameter for configuring the bits (S-0-0329) of the signal control words
in all CCD slaves.
Function Summary of the structure elements for assigning CCD signal status/control
word (P-0-1804.0.1 to P-0-1804.0.4).
In this parameter, the information about a component required for the engi‐
neering tool is provided in compact form for each instance.
P-0-1804.x.130 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 695/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function Parameter "P-0-1805.x.2" serves to configure the actual values. These are
transmitted from the CCD slaves to the CCD master in the AT. The list con‐
tains the IDNs to which the data are filed which are put into the AT by the
CCD slave and are intended for the CCD master. The CCD master internally
copies this data to the parameters mentioned.
The list contains IDNs which are also copied to the cyclic con‐
sumer connection of the associated slave. The command values
are generated by the master. "P-0-1805.x.1" (e.g. P-0-0434 ->
S-0-0047) is applicable as a reference list for the CCD master.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 697/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Parameter "P-0-1805.x.2" serves to configure the actual values. These are
transmitted from the CCD slaves to the CCD master in the AT.
The list contains actual values for the CCD master (internal)
which the slave puts into the sercos AT. The parameters of the
list are directly copied to the list of the producer connection of the
associated slave. Parameter "P-0-1805.x.2, CCD: Configuration
list actual master values" describes how the CCD master inter‐
prets these data.
Product-specific parameters
Function The CCD master displays the IP addresses of the sercos master communica‐
tion of the CCD slaves in parameter "P-0-1806.x.1". The sercos instance (x)
corresponds to the slave index in the CCD group (1 = local slave, 2 = slave 1,
etc.). The master reads the IP addresses of the CCD slaves immediately af‐
ter phase 2 has been reached. These IP addresses are displayed in this pa‐
rameter.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 699/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Parameter in
Description Parameter in the drive
the CCD master
127.0.0.1 (P-0-1641 from CCD master is ac‐
Master IP address P-0-1806.1.1
tive)
Slave 1 IP address P-0-1806.2.1 Content from S-0-1020 in slave 1
Slave 2 IP address P-0-1806.3.1 Content from S-0-1020 in slave 2
Function Parameter "P-0-1806.x.2" displays the SERCOS III: Device Status (S-Dev)
(S-0-1045) of the CCD slaves, which is transmitted from the CCD slaves to
the CCD master in the AT. The sercos instance (x) corresponds to the slave
index in the CCD group (1 = local slave, 1 = slave 1, etc.). This parameter is
an image of the Device Status (S-Dev) of the CCD slaves. It is read-only and
can be used for diagnostic purposes.
Parameter in the
Description CCD master Parameter in the drive
Product-specific parameters
the CCD slaves in the MDT. Here, the SI is used as slave index (1 = local
slave, 2 = slave 1, etc.).
This parameter is an image of the Device Control (C-Dev) of the CCD slaves.
It is read-only and can be used for diagnostic purposes.
See also Functional Description "Cross-Communication (CCD)"
P-0-1806.x.3 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Parameter P-0-1806.x.4 displays the connection control word (C-Con) of con‐
nection #0 of the CCD slaves, which is transmitted from the CCD slaves to
the CCD master in the AT. The CCD master uses connection #0
(S-0-1050.0.x) of the CCD slaves for classic MS-AT data. Here, the SI serves
as slave index (1 = local slave, 2 = slave 1, etc.). The parameter is an image
of C-Con of connection #0 in the CCD slave. It is read-only and can be used
for diagnostic purposes.
See also Parameter Description "S-0-1050.0.8, SIII-Connection: Connection
control (C-Con)"
See also Functional Description "Cross-Communication (CCD)"
Structure
Bit Designation/function Comment
0 ProducerReady
0: Producer does not generate any valid command values
yet
1: Producer generates valid command values, slave can
process the command values with toggle of bit 1
1 NewData bit
- Each change indicates that new process data are trans‐
ferred.
- In synchronous mode (S-0-1050.x.1 bit 1/0 = 00), the
counter is incremented by 1 in every producer cycle
(S-0-1050.x.10).
Bit 1 and bit 12 are identical.
2 CC DataFieldDelay
1: CC producer data have a sercos cycle delay, because
they were copied via the bus master. The consumer shall
prefer taking the data of the port at which this bit has the
value 0.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 701/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
0 ProducerReady
0: Producer does not generate any valid command values
yet
1: Producer generates valid command values, slave can
process the command values with toggle of bit 1
1 NewData bit
- Each change indicates that new process data are trans‐
ferred.
- In synchronous mode (S-0-1050.x.1 bit 1/0 = 00), the
counter is incremented by 1 in every producer cycle
(S-0-1050.x.10).
- Bit 1 and bit 12 are identical.
2 CC DataFieldDelay
1: CC producer data have a sercos cycle delay, because
they were copied via the bus master. The consumer shall
prefer taking the data of the port at which this bit has the
value 0.
3 ProducerSynchonized
0: The PLL of the producer is not synchronized with the
clock of the ring
1: The PLL of the producer is synchronized with the clock
of the ring
6 Real-time bit 1
7 Real-time bit 2
15-12 Counter: The function is
- Each change indicates that new process data are trans‐ supported as of
ferred. MPx-18VRS
Product-specific parameters
Function Parameters "P-0-1806.x.10, CCD: Drive status word, slave x" contain the sta‐
tus word delivered from CCD slave x to the CCD master (corresponds to the
content of "S-0-0135, Drive status word" of CCD slave x).
Function Parameters "P-0-1806.x.11" contain the control word that has been transfer‐
red from the CCD master to CCD slave x and ends up in S-0-0134, Master
control word of the CCD slave.
Product-specific parameters
Function This parameter contains the configuration data of a CC connection with par‐
ticipation of the CCD master.
This data consists of:
● Activate configuration
● Connection type
● Configuration source
● Configuration type
● Clock generation (producer)
● Monitoring mechanism (consumer)
Structure
Bit Designation/function Comment
Product-specific parameters
Product-specific parameters
Function The telegram assignment defines at which position (telegram offset) and in
which telegram (MDT or AT, telegram number) the connection is. The tele‐
gram offset points to the connection control (C-Con) of this connection. The
parameter describes the CC connection with participation of the CCD master.
Since the CCD master generates the telegram structure itself, this parameter
is for display purposes only.
Structure
Bit Designation/function Comment
Function With this parameter, the CCD master shows how many bytes it allows for this
connection. The 2 bytes are included for the connection control C-Con.
P-0-1807.x.4 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function With this parameter, the CCD master shows how many bytes are currently
required for this connection. The 2 bytes are included for the connection con‐
trol C-Con.
The data of this parameter are made available by the CCD master for all ad‐
justable configuration types (P-0-1807.x.1, CCD connection: Configuration)
and are always updated after "P-0-1807.x.6, CCD connection: Configuration
list" has been written.
P-0-1807.x.5 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter describes the CC connection with participation of the CCD
master.
This parameter contains the IDNs (4 bytes) which are cyclically transmitted in
this connection.
The content only takes effect in the following configuration type:
00: Configuration with EIDNs (P-0-1807.x.1, CCD connection: Connection)
With this configuration type, the CCD master determines parameter
"P-0-1807.x.5, CCD connection: Current length of connection" from the con‐
tent of this parameter.
P-0-1807.x.6 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
● During CCD phase startup, the system checks whether the maximum
number of configurable connections of this type is exceeded when all
connections are selected. If yes, an error code is output during CCD
phase startup.
P-0-1807.x.7 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains the image of the connection control (C-Con) of the
connection. This applies to producer and consumer connections.
Structure
Bit Designation/function Comment
0 ProducerReady
0: Producer does not generate any valid command values
yet
1: Producer generates valid command values Slave can
apply command values by toggling bit 1
1 NewData bit
- Each change indicates that new process data are trans‐
ferred.
- In synchronous mode (S-0-1050.x.1 bit 1/0 = 00), the
counter is incremented by 1 in every producer cycle
(S-0-1050.x.10).
- Bit 1 and bit 12 are identical.
2 CC DataFieldDelay
1: CC producer data have a sercos cycle delay, because
they were copied via the bus master. The consumer shall
prefer taking the data of the port at which this bit has the
value 0.
3 ProducerSynchonized
0: The PLL of the producer is not synchronized with the
clock of the ring
1: The PLL of the producer is synchronized with the clock
of the ring
6 Real-time bit 1
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 709/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter displays the current status of each single connection.
Structure The displayed value (state) of the connection state machine depends on the
connection type (producer, consumer):
Product-specific parameters
Function This parameter indicates the cycle time within which the producer updates
the data of the cyclic connection. In addition, the NewData bit in the connec‐
tion control is toggled. The consumer of the connection uses the time as a
monitoring time to detect failures. The number of failures is displayed in
"P-0-1807.x.12, CCD connection: Error counter data losses".
The parameter describes the CC connection with participation of the CCD
master.
P-0-1807.x.10 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: us Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter indicates the number of allowed losses of producer data, be‐
fore a connection is considered to be broken, the consumer does not process
data anymore and sets the Err-Con bit for the bus master in the device status
(S-Dev, S-IF).
The parameter describes the CC connection with participation of the CCD
master.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 711/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter indicates how many losses of producer data the consumer
has already detected. This counter is without overflow and ends with 65535.
The counter will be reset through the positive edge of ProducerReady in the
connection control (C-Con).
P-0-1807.x.12 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains the IDN assignment (4Byte) of the real-time bits in
the connection control (C-Con). The list contains a maximum of 2 IDNs. The
bit assignment takes place in parameter "P-0-1807.x.21, CCD connection: Bit
allocation of real-time bits".
The parameter describes the CC connection with participation of the CCD
master.
P-0-1807.x.20 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains the bit assignment of the real-time bits parameter‐
ized in "S01807.x.20, CCD connection: IDN allocation of real-time bit". The
list contains a maximum of 2 bit offsets with values from 0... 31.
The parameter describes the CC connection with participation of the CCD
master.
712/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used to display and evaluate the diagnostic message num‐
ber of the CCD slaves x in the CCD master.
Product-specific parameters
Function The parameter in the CCD master contains the bits corresponding to the con‐
tent of the signal status word (S-0-0144) in the CCD slave. Parameterization
is done via:
● P-0-1804.x.1, CCD: Configuration list signal status word
● P-0-1804.x.3, CCD: Assignment list signal status word
Function The parameter in the CCD master contains the bits written to the signal con‐
trol word (S-0-0145) in CCD slave x via the CCD bus.
Product-specific parameters
Function Parameters "P-0-1808.x.10" display the active actual position values of the
CCD slaves which the CCD slaves transfer to the CCD master in the motion
channel (AT) of the MLD-M.
Function Parameters "P-0-1808.x.11" display the actual velocity values of the CCD
slaves which the CCD slaves transfer to the CCD master in the motion chan‐
nel (AT) of the MLD-M.
x is the slave number → e.g. 1 = local slave; 2 = CCD slave 1.
See also Functional Description "Cross-Communication (CCD)"
Use Observe the following aspects for using the parameter:
● The parameter is only served while the MLD-M is active, i.e. in MLD
system mode (P-0-1800.0.1).
● In the event of an error, the parameter can be used for diagnostic purpo‐
ses.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 715/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameters display the status word of the synchronous operation mode
of CCD slave x in the CCD master, which CCD slave x transfers in the motion
channel (AT) of the MLD-M.
Product-specific parameters
Product-specific parameters
● The data container can be used for transmission of 4-byte data to the
CCD slave in the command value telegram (e.g. P-0-1808.x.21 ->
S-0-0036).
Example:
The PLC writes to "P-0-1808.2.21" -> Master files this parameter to the MDT
for slave 1 as "S-0-0282".
Product-specific parameters
Product-specific parameters
The PLC writes to "P-0-1808.2.24" -> Master files this parameter to the MDT
for slave 1 as "S-0-0282".
Product-specific parameters
Product-specific parameters
Product-specific parameters
Example:
The PLC writes to "P-0-1808.2.34" -> Master files this parameter to the MDT
for slave 1 as "S-0-0080".
Product-specific parameters
Product-specific parameters
● The data container can be used for transmission of 4-byte data from the
CCD slave in the actual value telegram (e.g. P-0-1808.x.42 <-
S-0-0051).
Example:
Slave 1 files "S-0-0040" to the AT. The master copies the content of the AT to
"P-0-1808.2.42". In the master, "P-0-1808.2.42" is used for internal process‐
ing
Product-specific parameters
Function
In MLD system mode (P-0-1800.0.1), parameters "P-0-1808.x.41" are used
for the real-time channel.
Product-specific parameters
Slave 1 files "S-0-0040" to the AT. The master copies the content of the AT to
"P-0-1808.2.41". In the master, "P-0-1808.2.41" is used for internal process‐
ing
Product-specific parameters
Product-specific parameters
Product-specific parameters
● In CCD system mode and CCD basic mode, the parameters can be
used as copy containers.
● The data container can be used for transmission of 2-byte data from the
CCD slave in the actual value telegram (e.g. P-0-1808.x.54 <-
S-0-0084).
Example:
Slave 1 files "S-0-0084" to the AT. The master copies the content of the AT to
"P-0-1808.2.54". In the master, "P-0-1808.2.54" is used for internal process‐
ing
Product-specific parameters
Function This parameter serves to support the SLc03 without activated PLC in
IndraDrive.
When the PLC is activated in IndraDrive, the input and output data reside in
the I/O image of the PLC.
The parameter is only supported while the PLC in IndraDrive is inactive. In
phase 4, the parameter can be used to read the diagnostic information of the
SLc03.
The length of the data can be set in the SLc using parameter "P-0-3690.1.1".
See also Functional Description "Cross-Communication (CCD)"
P-0-1809.0.1 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter serves to support the SLc03 without activated PLC in
IndraDrive.
When the PLC is activated in IndraDrive, the input and output data reside in
the I/O image of the PLC.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 731/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter serves to support the SLc03 without activated PLC in
IndraDrive.
When the PLC is activated in IndraDrive, the input and output data reside in
the I/O image of the PLC.
The parameter is only supported while the PLC in IndraDrive is inactive. In
phase 4, the parameter can be used to read the status of the safety outputs
of the SLc03.
The length of the data can be set in the SLc using parameter "P-0-3690.3.1".
See also Functional Description "Cross-Communication (CCD)"
P-0-1809.0.3 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter serves to support the SLc03 without activated PLC in
IndraDrive.
When the PLC is activated in IndraDrive, the input and output data reside in
the I/O image of the PLC.
The parameter is only supported while the PLC in IndraDrive is inactive. In
phase 4, the parameter can be used to read the group status and the control
word of the SLc03.
The length of the data can be set in the SLc using parameter "P-0-3690.4.1"
and "P-0-3690.5.1".
See also Functional Description "Cross-Communication (CCD)"
732/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter serves to support the SLc03 without activated PLC in
IndraDrive.
When the PLC is activated in IndraDrive, the input and output data reside in
the I/O image of the PLC.
The parameter is only supported while the PLC in IndraDrive is inactive. In
phase 4, the parameter can be used to read the user data (inputs) of the
SLc03.
The length of the data can be set in the SLc using parameter "P-0-3690.6.1".
See also Functional Description "Cross-Communication (CCD)"
P-0-1809.0.6 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter serves to support the SLc03 without activated PLC in
IndraDrive.
When the PLC is activated in IndraDrive, the input and output data reside in
the I/O image of the PLC.
The parameter is only supported while the PLC in IndraDrive is inactive. In
phase 4, the parameter can be used to specify the user data (outputs) of the
SLc03.
The length of the data can be set in the SLc using parameter "P-0-3690.7.1".
See also Functional Description "Cross-Communication (CCD)"
P-0-1809.0.10 - Attributes Function: Par Editable: ++ Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Function This parameter contains the cycle times and timing settings used for cross
communication (CCD), which are automatically determined or configured in‐
ternally in the CCD master.
Product-specific parameters
Fig. 4-83:
P-0-1810.0.3 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: us Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter displays the version of the sercos master FPGA.
See also Functional Description "Cross-Communication (CCD)"
P-0-1810.0.4 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Parameter "P-0-1610.0.10" displays the status of the CCD master, i.e., of the
CCD communication.
Product-specific parameters
Product-specific parameters
An error occurred while the connection table was set up in the CCD
master. The parameterization of the CC connections in the CCD slaves
must be checked for non-allowed values. These may be caused by an
invalid connection type of an exceeded maximum length.
● Error: Length/Type of Master CC Connection not allowed
A wrong type or unallowed length is entered in the parameterization of a
CC connection with participation of the CCD master. See "P-0-1807.x.1"
or "P-0-1807.x.6".
● Error: IDN in Master CC Connection not allowed
An unallowed parameter for transmission is entered in the parameteriza‐
tion of a CC connection with participation of the CCD master. See
"P-0-1807.x.6".
● Error: Configuration real-time bits Master CC
An unallowed parameter for the real-time bits is entered in the parame‐
terization of a CC connection with participation of the CCD master. See
"P-0-1807.x.20" or "P-0-1807.x.21".
● Error: Length of P-0-1801.0.3 and P-0-1801.0.3 not equal
The lengths of the command and actual topologies specified in
"P-0-1801.0.3" and "P-0-1801.0.2" must be equal.
● Error: Values in P-0-1801.0.3 and P-0-1801.0.2 not equal
Command and actual topologies are different.
● The CCD motion cycle time is not allowed for motion task
(See Section Task System in Chapter "Basic Functions of Rexroth
IndraMotion MLD")
● Error: Address of projected drive and I/O must be unique
Duplicate addresses are not allowed for the projected drives and I/Os in
"P-0-1801.0.10" and "P-0-1801.0.11"!
● Number of CCD-Slaves not allowed at this mode or cycle time
The number of slaves is not allowed in this mode and in this cycle time.
For allowed combinations, please refer to the documentation.
● MLDM-Mode not allowed in advanced performance
MLD-M is not allowed with Advanced performance.
● Error when reading T4min-Time (S-0-1005)
An error occurred during reading of the T4 min time S-0-1005 of a slave
of drive type.
● Error when writing S/P-X-XXXX Slave x (Code 0x....)
An error with SERCOS code 0xXXXX occurred during writing parameter
S/P-X-XXXX to slave x via the service channel.
● Error when reading S/P-X-XXXX Slave x (Code 0x....) An error with
SERCOS code 0xXXXX occurred during reading parameter S/P-X-
XXXX from slave x via the service channel.
● Error at command execution of S/P-0-XXXX Slave x
An error occurred during execution of command S/P-0-XXXX on slave x.
More detailed information can be found in the slave diagnostics.
● Timeout for command acknowledgment of S/P-0-XXXX Slave x
Command S/P-0-XXXX that was started on slave x was not completed
with or without error within 25 s.
● Switching to phase x successfully carried out
738/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function This parameter displays a diagnosis code for error "F4140 CDD communica‐
tions error" which does not allow a more detailed diagnosis of the error
cause.
● 0x00000000 = no error
● 0x00000001 = unallowed phase return (P-0-1605 was set to a value un‐
equal to 4 without taking the CCD master into account)
● 0x00000002 = a communication error has occurred in a CCD slave
● 0x00000004 = the NC cycle time in the CCD master was changed in
phase 4
● 0x00000008 = the ring buffer for synchronization with non-synchronous
master communication has overflown
● 0x00000010 = the configuration of the IO driver was changed in phase 4
● 0x0001xxxx = Failure of Bus-Slave-Valid in S-Dev of Slave x; slave
does not enter any data in AT (bit 0 = slave 1, bit 1 = slave 2, etc.)
● 0x00020020 = no link at port 1 and port 2
● 0x00020021 = double AT failure
● 0x00022001 = no valid topology detected (line P1, line P2 or dual ring)
See also Functional Description "Cross-Communication (CCD)"
740/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function These list parameters display the telegram errors of the sercos FPGAs for
the particular port according to sercos.
The counters are running through. Counter levels remain preserved in case
of phase return.
See also Functional Description "Cross-Communication"
P-0-1810.0.12 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function These list parameters display the telegram errors of the sercos FPGAs for
the particular port according to sercos.
Ele‐
Error counter Comment
ment
Product-specific parameters
Ele‐
Error counter Comment
ment
Counter for discarded forwarding ethernet frames based
3
on missing collision buffer ressources
Counter for ethernet frames which violate the IP channel
4
window
Function This parameter displays an error counter for ATs. This parameter serves to
monitor ATs in which the value entered in parameter "S-0-1012, sercos:
Length of ATs" of the CCD slaves is greater than 0. The error counters count
all invalid drive telegrams (ATs) in phases 3 and 4 and has its upper limit at
65535.
Product-specific parameters
Function This parameter contains the class 1 diagnostics error bits of the CCD nodes.
Product-specific parameters
Product-specific parameters
Function This parameter is effective in conjunction with the synchronization with non-
synchronous master communication function.
A ring buffer is used to achieve decoupling of the master communication
command values for the slaves from the transmission. The command values
are not directly transmitted to the slaves but with an adjustable delay of pa‐
rameter "P-0-1816.0.5". What is achieved with this delay is the fact that a
command value which is not synchronously transmitted for processing in the
slaves immediately causes a telegram failure because processing in the
slaves is implemented with delayed values.
Parameters P-0-1815.x.1 can be put into the cyclic master communication
command value telegram in order to transmit the command values for the lo‐
cal axis of the CCD master and the CCD slaves from the control in CCD sys‐
tem mode. These command values are caught by the CCD master and filed
in the ring buffer. The control still has to put an application counter
(P-0-1816.0.1) into the telegram in addition to the command values. This ap‐
plication counter serves to provide the command values with a time mark.
Product-specific parameters
Function This parameter is effective in conjunction with the synchronization with non-
synchronous master communication function.
A ring buffer is used to achieve decoupling of the master communication
command values for the slaves from the transmission. The command values
are not directly transmitted to the slaves but with an adjustable delay of pa‐
rameter "P-0-1816.0.5". What is achieved with this delay is the fact that a
command value which is not synchronously transmitted for processing in the
slaves immediately causes a telegram failure because processing in the
slaves is implemented with delayed values.
Parameters P-0-1815.x.2 are used to transmit the command values for the lo‐
cal axis and the CCD slaves that are contained in the ring buffer. To achieve
this, parameters P-0-1815.x.2 must be entered in the CCD mapping parame‐
ters P-0-1805.x.1, CCD: Configuration list master cmd values. The target pa‐
rameter of the slaves must be entered in parameter P-0-1805.x.3, CCD:
CCD: Configuration list slave cmd values (e.g. S-0-0047).
Product-specific parameters
Function This parameter is effective in conjunction with the synchronization with non-
synchronous master communication function.
A ring buffer is used to achieve decoupling of the master communication
command values for the slaves from the transmission. The command values
are not directly transmitted to the slaves but with an adjustable delay of pa‐
rameter "P-0-1816.0.5". What is achieved with this delay is the fact that a
command value which is not synchronously transmitted for processing in the
slaves immediately causes a telegram failure because processing in the
slaves is implemented with delayed values.
Parameter P-0-1816.0.1 serves to assign the command values temporally
and must be transmitted from the control (application) to the slave command
values once in each command value cycle. Using this application counter, the
CCD master can achieve a temporal assignment of the command values for
the CCD slaves and the local axis.
See also Functional Description "Cross-Communication (CCD)"
P-0-1816.0.1 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This parameter is effective in conjunction with the synchronization with non-
synchronous master communication function.
The difference between the command and actual distances of the input and
output values of the ring buffer is used to calculate a correction value for the
internal timing of the CCD master and therefore compensate the difference.
As a result, the CCD timing can be adjusted to the master communication
timing.
This correction value is inversely proportional to the time in which there was
no difference between command and actual distances. This correction value
is multiplied by parameter P-0-1816.0.2 CCD.
As a result, an individual amplification of the value determined by the CCD
master can be set. The default value of this parameter was calculated in nu‐
merous tests and should ensure optimal control behavior.
See also Functional Description "Cross-Communication (CCD)"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 747/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is effective in conjunction with the synchronization with non-
synchronous master communication function.
The difference between the command and actual distances of the input and
output values of the ring buffer is used to calculate a correction value for the
internal timing of the CCD master and therefore compensate the difference.
As a result, the CCD timing can be adjusted to the master communication
timing.
This correction value is inversely proportional to the time in which there was
no difference between command and actual distances. This correction value
is scaled and added up by means of parameter "P-0-1816.0.3".
As a result, any difference from the time is scaled to an increasingly higher
degree. The default value of this parameter was calculated in numerous tests
and should ensure optimal control behavior.
See also Functional Description "Cross-Communication (CCD)"
P-0-1816.0.3 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is effective in conjunction with the synchronization with non-
synchronous master communication function.
A ring buffer is used to achieve decoupling of the master communication
command values for the slaves from the transmission. The command values
are not directly transmitted to the slaves but with an adjustable delay of pa‐
rameter "P-0-1816.0.5" (command interval of input/output value). If values ex‐
ceed or fall below this command interval, there may be a jitter or a drift of
master communication transmission to the CCD system.
In case of a jitter, this difference is probably compensated after a few cycles.
In case of a drift, the actual interval will be increasingly farther away from the
command interval after some time. This state must be counteracted by the
CCD master.
Using its timing, the CCD master counteracts this drift subject to various influ‐
ence factors.
748/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is effective in conjunction with the synchronization with non-
synchronous master communication function.
A ring buffer is used to achieve decoupling of the master communication
command values for the slaves from the transmission. The command values
are not directly transmitted to the slaves but with an adjustable delay of pa‐
rameter "P-0-1816.0.5". What is achieved with this delay is the fact that a
command value which is not synchronously transmitted for processing in the
slaves immediately causes a telegram failure because processing in the
slaves is implemented with delayed values.
The delay is parameterized in CCD cycles. In CCD system mode, the CCD
cycle corresponds to the master communication cycle.
See also Functional Description "Cross-Communication (CCD)"
P-0-1816.0.5 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Function The configuration list defines the master axes to be prepared by listing the
logic axis number of the desired source axes.
The logic axis numbers of the real IndraDrive axes are defined by parameter
"P-0-1801.0.10". The logic axis numbers of the measuring encoder axis
(RMA_1), the virtual axis (VMA_1) and the group axis (MA_LINK_1) are con‐
stant. The maximum number of entries that can be made is 3. The order in
the list numbers the master axes from 1 to 3. This numbering is used to as‐
sign the parameters to the adjustment of the master axes.
See also Functional Description "Cross-Communication (CCD)"
P-0-1820.0.1 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: P2->P3 Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function If a measuring encoder axis RMA_1 is entered in the master axis configura‐
tion list, the axis to which the measuring encoder is connected must be speci‐
fied. To achieve this, the logic axis number of the IndraDrive axis from which
the actual position value of the measuring encoder (P-0-0052) is to be re‐
trieved must be specified in this parameter.
See also Functional Description "Cross-Communication (CCD)"
P-0-1820.0.2 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function If a measuring encoder axis RMA_1 is entered in the master axis configura‐
tion list, the actual position value of the measuring encoder is retrieved from
the axis specified in Parameter P-0-1820.0.2 and filed in this parameter.
See also Functional Description "Cross-Communication (CCD)"
P-0-1820.0.3 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function This bit list is used to specify for each real IndraDrive axis whether the only
parameter configured in the drive telegram is parameter "S-0-0386, Active
position feedback value" or whether parameter "P-0-0434, Position command
value of controller" is configured as well.
If a bit is 0, the associated IndraDrive axis only retrieves the "S-0-0386, Ac‐
tive position feedback value". If a bit is 1, the "P-0-0434, Position command
value of controller" is additionally retrieved.
Bit 0 refers to the axis with logic axis number 1; bit n refers to the axis with
the logic axis number n+1.
It is reasonable to retrieve the position command value in addition to the
noisy actual position value and use it as a source for a master axis only for
IndraDrive axes which are intended to serve as a master axis.
See also Functional Description "Cross-Communication (CCD)"
P-0-1820.0.4 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte
Memory: PARAM_SP Validity ch.: P2->P3 Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
● In CCD system mode and CCD basic mode, the parameters can be
used as copy containers.
● The data container can be used for transmission of 2 bytes data to the
CCD slave in the command value telegram (e.g. P-0-1821 -> S-0-0080).
Example:
Slave 1 files "S-0-0084" to the AT -> Master copies to "P-0-1821" and files
"P-0-1821" to the MDT for slave 1 as "S-0-0080".
Function If it is intended to use the axis position of an IndraDrive axis for master axis
adjustment, the position command value of this axis can be used as an alter‐
native to the active actual position value. In this case, this axis cyclically
transmits the value of parameter P-0-0434, Position command value of con‐
troller, to the control. In the control, the value is stored in one of parameters
P-0-1821.x.1. Structure index x corresponds to the master axis for the adjust‐
ment of which the position command value is to be used (1, 2 or 3).
P-0-1821.x.1 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function For adjusting a configured master axis, the value of the source parameter is
filtered to the format of the master axis after completed conversion. The fol‐
lowing filters can be selected:
0 Filter deactivated
1 1st order low-pass filter with velocity feedforward
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 753/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function For master axis adjustment, the cutoff frequency of the filter must be speci‐
fied in addition to the filter type. The filter cutoff frequency is the frequency at
which the signal is reduced by 3 dB. The maximum possible filter cutoff fre‐
quency depends on the CCD cycle time. The maximum value can be calcula‐
ted as follows:
Maximum filter cutoff frequency = 1 / (2 * CCD cycle time)
If it is higher, the value specified is limited to the maximum possible value. In
this case, the minimum possible filter effect is active.
The structure index specifies whether the parameter is intended for the mas‐
ter axis (1, 2 or 3).
P-0-1821.x.3 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Hz Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function To compensate the time requirements of fine interpolation and the transmis‐
sion times between CCD master and slaves, the master axis position of a
master axis is extrapolated after it has been adjusted. This parameter defines
for each master axis n the number of CCD cycles by which the established
master axis position is extrapolated. The velocity of the master axis is used
for extrapolation. For this reason, there will be extrapolation errors during ac‐
celeration and deceleration.
754/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
The structure index specifies whether the parameter is intended for the mas‐
ter axis (1, 2 or 3).
P-0-1821.x.4 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
4.13.150 P-0-1822.0.1, CCD: Default master axis selection for the IndraDrive
axes
Allocation Contained in 18VRS: «-» «-» «-» «MPC»
Contained in 19VRS: «-» «-» «-» «MPC» «-»
Contained in 20VRS: «-» «-» «-» «MPC» «-»
Hardware Controller A-CC
Funct. package(s): --
Device parameter: device-specific
Function This parameter is used to select one of the 3 possible master axes for the
IndraDrive axes. The master axis position selected is transmitted to the par‐
ticular IndraDrive axis until the first command is triggered. Starting with bits 0
and 1 for logic axis 1, two bits are available for each of the following logic ax‐
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 755/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
4.13.151 P-0-1822.0.2, CCD: Master axis selection for the IndraDrive axes
Allocation Contained in 18VRS: «-» «-» «-» «MPC»
Contained in 19VRS: «-» «-» «-» «MPC» «-»
Contained in 20VRS: «-» «-» «-» «MPC» «-»
Hardware Controller A-CC
Funct. package(s): --
Device parameter: device-specific
Function This parameter is used to select one of the 3 possible master axes for each
of the IndraDrive axes. The master axis position selected (P-0-1821.x.5,
CCD: Master axis n, master axis position ) is transferred to the master axis
position of the particular IndraDrive axis (P-0-1823.x.2, CCD: Master axis po‐
sition for axis n).
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 757/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Starting with bits 0 and 1 for logic axis 1, two bits are available for each of the
following logic axes. This allows specifying values of 0 to 3 in each case. Val‐
ues 1, 2 and 3 refer to the order in the configuration list for the master axes.
Structure
Bit Designation/function Comment
Product-specific parameters
Product-specific parameters
Function This parameter defines a default synchronous operation mode for the
IndraDrive axes. This is achieved by entering a characteristic number.
The following settings can be selected:
● Phase synchronization (0)
● Cam (1)
● MotionProfile (2)
● Velocity synchronization (3)
During initialization, the synchronization mode selected in parameter
"P-0-1823.x.1" is set for the slave axis in parameter "P-0-0088, Control word
synchronization modes". The setting made in this parameter is only required
if bit "In Synchronization" is to be established in the slave axis before syn‐
chronization mode is activated with the correct operation mode.
The structure index specifies the logic axis n for which the parameter takes
effect.
P-0-1823.x.1 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to store for each IndraDrive axis the position of the
master axis which is assigned to this IndraDrive axis by default or by trigger‐
ing a command. The assignment is found in parameter "P-0-1802.0.2, CCD:
Master axis selection for the IndraDrive axes".
The structure index specifies the logic axis n for which the respective param‐
eter takes effect.
P-0-1823.x.2 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function The parameter realizes the object 0x6040 "Control word" for profile "CiA402".
The description of the object can be found in specification "CiA 402 CANopen
device profile for drives and motion control".
Via parameter "P-0-1901.0.1" the Drive State Machine can be controlled in
accordance with "CiA402".
See also functional description "Profile types"
788/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
4... 6 Operation mode-specific
7 Fault reset
8 Halt
9 Operation mode-specific
Function The parameter realizes the object 0x6041 "status word" for the profile
"CiA402".
Parameter "P-0-1901.0.2" can be used to indicate the status of the drive state
machine according to "CiA402".
See also Functional Description "Profile types"
Structure
Bit Designation/function Comment
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8/9 Reserved
10 Target reached
11 Internal limit active
12/13 Operation mode-specific
14/15 Reserved
Product-specific parameters
Only in cyclic
1 X X Following error
position mode
Function The parameter realizes the object 0x6007 "Abort connection option code" for
profile "CiA402".
Via parameter "P-0-1901.0.3" the reaction to a communication error of the
drive state machine can be set in accordance with "CiA402".
● 0 = In the case of a communication error, only a warning is issued
● 1 = In the case of a communication error, an error message is issued
See also functional description "Profile types"
P-0-1901.0.3 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes object 0x605A "Quick stop option code" for profile
"CiA402".
Via parameter "P-0-1901.0.4" the deceleration ramp and reaction during the
transition to the state “quick stop” of the drive state machine can be set in ac‐
cordance with "CiA402".
790/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter realizes object 0x605B "Shutdown option code" for profile
"CiA402".
Via parameter "P-0-1901.0.5" the deceleration ramp can be set for the input
"Shutdown" of the drive state machine in accordance with "CiA402".
● 0 = Disable drive function (torque enable)
See also functional description "Profile types"
P-0-1901.0.5 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes object "0x605C Disable operation option code" for
profile "CiA402".
Via parameter "P-0-1901.0.6" the deceleration ramp can be set for the input
"Disable operation" of the drive state machine in accordance with "CiA402".
● 0 = Disable drive function (torque enable)
● - 1 = Deceleration with selection from "P-0-0119" (0x3077)
See also functional description "Profile types"
P-0-1901.0.6 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes object 0x605D "Halt option code" for profile "CiA402".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 791/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Via parameter "P-0-1901.0.7" the deceleration ramp can be set for the input
"Halt" of the drive state machine in accordance with "CiA402".
● 1 = Deceleration with the deceleration ramp defined for the active oper‐
ation mode (not possible in all operation modes, otherwise like *2)
● 2 = Deceleration with 0x6085 "Quick stop deceleration" (S-0-0372)
See also functional description "Profile types"
P-0-1901.0.7 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes object 0x605E "Fault reaction option code" for profile
"CiA402".
Via parameter "P-0-1901.0.8" the deceleration ramp can be set for the drive
state machine’s switching to "Fault" in accordance with "CiA402".
● 0 = Disable drive function (torque enable)
● -1 = Deceleration with selection from P-0-0119 (0x3077)
See also functional description "Profile types"
P-0-1901.0.8 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6060 "Modes of operation" for profile
"CiA402".
The operation mode can be set via parameter "P-0-1901.0.9".
See also functional description "Profile types"
Structure The following values are permissible:
Product-specific parameters
Function The parameter realizes the object 0x6061 "Modes of operation display" for
profile "CiA402".
Via parameter "P-0-1901.0.10" the active mode (of operation) is displayed.
See also functional description "Profile types"
P-0-1901.0.10 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6502 "Supported drive modes" for profile
"CiA402".
Via parameter "P-0-1901.0.11" the possible modes (of operation) are dis‐
played.
See also functional description "Profile types"
P-0-1901.0.11 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter realizes the object 0x603F "Error Code" for profile "CiA402".
Via parameter "P-0-1901.0.12" the active "CiA402 Error Code" is displayed.
See also functional description "Profile types"
P-0-1901.0.12 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x608F 00 "Position encoder resolution"
for profile "CiA402".
Via parameter "P-0-1901.0.21" the number of subindices (2) is displayed for
this object.
See also functional description "Profile types"
P-0-1901.0.21 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes object 0x608F 01 "Position encoder resolution, en‐
coder increments" for profile "CiA402".
Via parameter "P-0-1901.0.22" the resolution of encoder 1 can be set.
See also functional description "Profile types"
P-0-1901.0.22 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter realizes the object 0x608F 02 "Position encoder resolution,
motor revolutions" for profile "CiA402".
Only the value "1" can be written to parameter "P-0-1901.0.23". Thus, the
setting from "P-0-1901.0.22" (0x608F 01) refers to one motor revolution.
See also functional description "Profile types"
P-0-1901.0.23 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6091 00 "Gear Ratio" for profile
"CiA402".
Via parameter "P-0-1901.0.24" the number of subindices (2) is displayed for
these objects.
The gear ratio is set by means of parameters "S-0-0121" (0x6091 01 "Gear
ratio, motor shaft revolutions") and "S-0-0122" (0x6091 02 "Gear ratio, driving
shaft revolutions").
See also functional description "Profile types"
P-0-1901.0.24 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6092 00 "Feed Constant" for profile
"CiA402".
Via parameter "P-0-1901.0.25" the number of subindices (2) is displayed for
this object.
The feed constant is set via parameters P-0-1901.0.26 (0x6092 01 "Feed
constant, feed") and P-0-1901.0.27 (0x6092 02 "Feed constant, shaft revolu‐
tions").
See also functional description "Profile types"
P-0-1901.0.25 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter realizes the object 0x6092 01 "Feed Constant, Feed" for pro‐
file "CiA402".
Via parameter "P-0-1901.0.26" the feed is entered in the set position scaling.
See also functional description "Profile types"
P-0-1901.0.26 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6092 02 "Feed Constant, shaft revolu‐
tions" for profile "CiA402".
Only the value "1" can be written to parameter "P-0-1901.0.27", which means
that the setting from "P-0-1901.0.26" (0x6092 01) refers to one motor revolu‐
tion.
See also functional description "Profile types"
P-0-1901.0.27 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6096 00 "Velocity factor" for profile
"CiA402".
Via parameter "P-0-1901.0.28" the number of subindices (2) is displayed for
this object.
The "velocity factor" is set via the parameters "P-0-1901.0.29" and
"P-0-1901.0.30".
See also functional description "Profile types"
P-0-1901.0.28 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter realizes the object 0x6096 01 "Velocity factor, numerator" for
profile "CiA402".
Via parameter "P-0-1901.0.29" the numerator of the "Velocity factor" can be
entered.
See also functional description "Profile types"
P-0-1901.0.29 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6096 02 "Velocity factor, divisor" for pro‐
file "CiA402".
Only the value "1" can be written to parameter "P-0-1901.0.30". For this rea‐
son, the nominator of the "velocity factor" is always "1".
See also functional description "Profile types"
P-0-1901.0.30 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6097 00 "Acceleration factor" for profile
CiA402.
Via parameter "P-0-1901.0.31" the number of subindices (2) is displayed for
these objects (“2” in this case).
The "Acceleration factor" is set via the parameters "P-0-1901.0.32" (0x6097
01 "Acceleration factor, numerator") and "P-0-1901.0.33" (0x6097 02 "Accel‐
eration factor, divisor").
See also functional description "Profile types"
P-0-1901.0.31 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter realizes the object 0x6097 01 "Acceleration factor, numerator"
for profile "CiA402".
Via parameter "P-0-1901.0.32" the numerator of the "Acceleration factor" can
be entered.
See also functional description "Profile types"
P-0-1901.0.32 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6097 02 "Acceleration factor, divisor" for
profile "CiA402".
Only the value "1" can be written to parameter "P-0-1901.0.33". For this rea‐
son, the nominator of the "Acceleration factor" is always "1".
See also functional description "Profile types"
P-0-1901.0.33 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x607E "Polarity" for profile "CiA402".
Via parameter "P-0-1901.0.34" the polarity of position and velocity data can
be set.
See also functional description "Profile types"
Structure
Bit Designation/function Comment
6 Velocity polarity
0: Positive
1: Negative
7 Position polarity
0: Positive
1: Negative
Product-specific parameters
Function The parameter realizes the object 0x60A8 "SI unit position" for profile
"CiA402".
Via parameter "P-0-1901.0.35" the unit (scaling) of position data can be set.
See also functional description "Profile types"
Structure
Bit Designation/function Comment
15 - 0 Reserved
23 - 16 Position unit
41: Degrees (rotary scaling)
01: m (linear scaling)
31 - 24 Exponent
-6... 0: With unit “degrees"
-9... 0: With unit "m"
Function The parameter realizes the object 0x60A9 "SI unit velocity" for profile
"CiA402".
Via parameter "P-0-1901.0.36" the unit (scaling) of velocity data can be set.
See also functional description "Profile types"
Structure
Bit Designation/function Comment
7-0 Reserved
18 - 8 Time unit
47: min
03: sec
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 799/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter realizes the object 0x60AA "SI unit acceleration" for profile
"CiA402".
Via parameter "P-0-1901.0.37" the unit (scaling) of acceleration data can be
set.
See also functional description "Profile types"
Structure
Bit Designation/function Comment
7-0 Reserved
15 - 8 Time unit
57: "sec2"
23 - 16 Acceleration unit
10: "rad" (rotary scaling)
01: “m” (linear scaling)
31 - 24 Exponent
-6... 0: With unit "rad"
-9... 0: With unit "m"
Product-specific parameters
Function The parameter realizes the object 0x607A "Target Position" for profile
"CiA402".
Via parameter "P-0-1901.0.41" the position command value can be provided
in the (operation) mode "Cyclic synchronous position mode".
See also functional description "Profile types"
P-0-1901.0.41 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x60C2 00 "Interpolation time period" for
profile "CiA402".
Via parameter "P-0-1901.0.42" the number of subindices (2) is displayed for
this object.
The "interpolation time" is set via parameters "P-0-1901.0.43" (0x60C2 01
"interpolation time period, value") and "P-0-1901.0.44" (0x60C2 02 "Interpola‐
tion time period, index").
See also functional description "Profile types"
P-0-1901.0.42 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x60C2 01 "Interpolation time period, val‐
ue" for profile "CiA402".
Via parameters "P-0-1901.0.43" and "P-0-1901.0.44" the time can be en‐
tered, over which the command value from "P-0-1901.0.41" (0x607A) is to be
interpolated.
The interpolation time in "s" results from P-0-1901.0.43 * 10 P-0-1901.0.44.
See also functional description "Profile types"
P-0-1901.0.43 - Attributes Function: Par Editable: PM Data length:
2Byte /
1Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter realizes the object 0x60C2 02 "Interpolation time period, in‐
dex" for profile "CiA402".
The description of the object can be found in specification "CiA402 CANopen
device profile for drives and motion control".
Via parameters "P-0-1901.0.43" and "P-0-1901.0.44" the time can be en‐
tered, over which the command value from "P-0-1901.0.41" (0x607A) is to be
interpolated.
The interpolation time in "s" results from P-0-1901.0.43 * 10 P-0-1901.0.44.
See also functional description "Profile types"
P-0-1901.0.44 - Attributes Function: Par Editable: PM Data length:
2Byte /
1Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x607B 00 "Position Range Limit" for pro‐
file "CiA402".
Via parameter "P-0-1901.0.45" the number of subindices (2) is displayed for
this object.
The "position range" is set via parameters "P-0-1901.0.46" (0x607B 01 "Min
position: Range Limit") and "P-0-1901.0.47" (0x607B 02 "Max position:
Range Limit"). Only the value "0" can be written to parameter
"P-0-1901.0.46". Modulo scaling in IndraDrive is activated by a value unequal
to "0" in "P-0-1901.0.47" (0x607B 02 "Max position Range Limit").
See also functional description "Profile types"
P-0-1901.0.45 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x607B 01 "Min position Range Limit" for
profile "CiA402".
The description of the object can be found in specification "CiA 402 CANopen
device profile for drives and motion control".
802/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter realizes the object 0x607B 02 "Max position Range Limit" for
profile CiA402.
The "position range" is set via parameters "P-0-1901.0.46" (0x607B 01 Min
position: Range Limit) and "P-0-1901.0.47" (0x607B 02 Max position: Range
Limit). Only the value “0” can be written to parameter "P-0-1901.0.46". Modu‐
lo scaling is activated in IndraDrive by a value unequal to “0” in
"P-0-1901.0.47" (0x607B 02 Max position Range Limit).
See also functional description "Profile types"
P-0-1901.0.47 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x607D "00 Software Position Limit" for
profile "CiA402".
Via parameter "P-0-1901.0.48" the number of subindices (2) is displayed for
this object.
The position limits and the activation of position limit monitoring are set via
parameters "P-0-1901.0.49" (0x607D 01 Min position limit) and
"P-0-1901.0.50" (0x607D 02 Max position limit).
Product-specific parameters
Function The parameter realizes the object 0x607D 01 "Min position limit" for profile
"CiA402".
The position limits and the activation of position limit monitoring are set via
parameters "P-0-1901.0.49" (0x607D 01 Min position limit) and
"P-0-1901.0.50" (0x607D 02 Max position limit).
If both parameters (objects) have the value "0", monitoring of the position lim‐
its is switched off.
See also functional description "Profile types"
P-0-1901.0.49 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x607D 02 "Max position limit" for profile
"CiA402".
The description of the object can be found in specification "CiA402 CANopen
device profile for drives and motion control".
The position limits and the activation of position limit monitoring are set via
parameters "P-0-1901.0.49" (0x607D 01 Min position limit) and
"P-0-1901.0.50" (0x607D 02 Max position limit).
If both parameters (objects) have the value "0", monitoring of the position lim‐
its is switched off.
See also functional description "Profile types"
P-0-1901.0.50 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6063 "Position actual internal value" for
profile "CiA402".
Via parameter "P-0-1901.0.51" the current value of the motor measuring sys‐
tem can be displayed in the internal processing unit.
See also functional description "Profile types"
804/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter realizes the object 0x60FC "Position demand internal value"
for profile CiA402.
The description of the object can be found in specification "CiA402 CANopen
device profile for drives and motion control".
Via parameter "P-0-1901.0.52" the internal input value of the position control‐
ler can be displayed in the unit of internal processing.
See also functional description "Profile types"
P-0-1901.0.52 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function The parameter realizes the object 0x6098 "Homing method" for profile
CiA402.
Via parameter "P-0-1901.0.53" the homing method can be selected for the
"homing mode".
See also functional description "Profile types"
Structure
Value Designation/function Comment
Product-specific parameters
Function The parameter realizes the object 0x6099 00 "Homing speeds" for profile
"CiA402".
Via parameter "P-0-1901.0.54" the number of subindices (2) is displayed for
this object.
The homing speed is set via parameter "S-0-0041" (0x6099 01 Speed during
search for switch) and (0x6099 02 Speed during search for zero). It is not
possible to make different settings for the speed for searching for the mark
and for the switch.
See also functional description "Profile types"
P-0-1901.0.54 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used in conjunction with the enabling of functional pack‐
ages.
In parameter "P-0-2002" the count of the operating hours counter of the con‐
trol section, at the time of a change in the functional package selection in
"P-0-2003, Selection of functional packages", is stored.
The value is stored on the control section and therefore gets lost
when the device is replaced. Parameter P-0-2002 cannot be
changed but only be read.
Function Parameter "P-0-2003" is used for selecting the desired and licensed function‐
al packages for functional package enable. There may be cases where func‐
tional packages are enabled (ALL) which may only be used alternatively
(MSP, SNC, SRV) to each other. The effective alternative package is selec‐
ted via "P-0-2003".
See also functional description "Enabling of functional packages"
See also functional description "Functional packages"
See also functional description "Change of active functional packages selec‐
tion"
Structure
Name of package
Bit No. (Bit = 1 → Package has been selected) Rules for selection via P-0-2003
Product-specific parameters
Name of package
Bit No. (Bit = 1 → Package has been selected) Rules for selection via P-0-2003
2 Not used --
3 Not used --
4 Expansion package "servo function" (SRV) - As an alternative to bit 5, 6 or 7
- Not with "open-loop"
5 Expansion package "synchronization" (SNC) - As an alternative to bit 4, 6 or 7
- Not with CSB-01.1N-FC
6 Expansion package "main spindle" (MSP) - As an alternative to bit 4, 5 or 7
- Not with "open-loop" for CDB01.1C
7 Expansion package "Sytronix" (SYX) - As an alternative to bit 4, 5 or 6
- Only with IndraMotion MLD (ML or TF)
- Only for MPB and MPC
8 Additional package "IndraMotion MLD - For MPC only
Advanced" (MA) - Only in conjunction with bit 1 (closed-loop) and bit 9
(IndraMotion MLD)
9 Additional package "IndraMotion MLD" (ML - As an alternative to TF bit 10
or TF)1)
10 Additional package "Technology function" - As an alternative to ML bit 9
(TF)
15 - 11 Not used --
20 - 16 Reserved
31 - 21 Not used --
1) MLD design "ML" for MPH firmware; "TF" for MPB firmware
Tab. 4-220: Selection of functional packages via parameter P-0-2003
Use Observe the following while configuring the parameters:
● When the mode is switched from parameterization mode (PM) to ope‐
rating mode (OM), this parameter is marked as invalid if enabled pack‐
ages were selected which may be active only alternatively in relation to
each other.
● Changes do not become effective before the drive is restarted the next
time or "S-0-1350, C6400 reboot command" is executed.
P-0-2003 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: + Set-depend.: --
Product-specific parameters
Function This parameter displays the current count of the operating hours counter of
the motor.
The operating hours counter records the duration of three different operating
states:
● Motor enabled (AF, electric load)
● Motor in motion (actual velocity unequal to "0")
● Motor temperature less than 10K away from "S-0-0204, Motor shutdown
temperature"
The following motor deceleration thresholds apply:
● Rotary motor: 10rpm
● Linear motor: 10mm/min
See functional description "Diagnostic data of motor operation"
Structure
List parameter with three elements
Product-specific parameters
ing to the operating mode, time recording continues on the basis of the val‐
ues of "P-0-2051", when the corresponding time recording criterion has been
fulfilled.
P-0-2051 - Attributes Function: Par Editable: PM Data length: 4Byte var.
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 5
Function This parameter displays the current status of the thermal operating data:
● Maximum temperature of motor
● Average motor temperature during total operating time (motor in "AF")
The values of the thermal operating data are only realistic, when
the temperature sensor allows winding temperature measure‐
ment! This is impossible for temperature sensors with switching
performance!
Product-specific parameters
Function This parameter displays the current status of the mechanical operating data:
● Maximum velocity of motor shaft or of moving part of motor
● Average velocity of motor shaft or of moving part of motor during total
operating time (motor in AF)
See Functional Description "Diagnostic Data of Motor Operation"
Structure
List Parameter With Two Elements
List ele‐ Operating time Default Unit Definition
ment value
0 Maximum velocity 0 S-0-0044 Maximum velocity of motor
which ever occurred during the
operating time (AF)
1 Average velocity 0 S-0-0044 Average velocity of motor dur‐
ing motion, averaged over the
time period during which the
motor is in motion.
Function To quantify the mechanical motion of the motor or the axis, the drive deter‐
mines the operational performance of the connected motor. For this purpose,
a current value is generated in intervals of 8ms and added up. This value is
calculated from the following product:
● Current velocity (average absolute value over 8ms)
● Duration of motor motion (rotary motor > 10min-1, linear motor >100mm/
min), max. 8ms
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 811/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter serves for identification of the serial number and the connec‐
ted motor model.
This functionality is only available for Rexroth motors with QEM encoder data
memory version 4 (MSK) or 7 (MS2N). The serial number of the motor serves
for identification of the motor model currently connected to the controller. This
812/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
indicates whether the motor connected to the controller has been replaced.
Depending on the motor model connected, the operating data stored in the
encoder are applied to the controller or, if necessary, synchronized with the
operating data available in the controller.
See functional description "Diagnostic data of motor operation"
P-0-2055 - Attributes Function: Par Editable: PM Data length: 1Byte var.
Memory: PARAM_SP Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 5
Function This parameter contains the default value for "S-0-0100, Velocity loop propor‐
tional gain" stored in the encoder data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "S-0-0100". This function is only available for Rexroth motors with
encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-2100 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Nm/(rad/s) Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Default value for "S-0-0101, Velocity loop integral action time" stored in the
encoder data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "S-0-0101, Velocity loop integral action time". This function is only
available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-2101 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: ms Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 813/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Default value for "S-0-0104" stored in the encoder data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "S-0-0104". This function is only available for Rexroth motors with
encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-2104 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: 1000/min Extr. val. ch.: -- Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Default value for "S-0-2106, Current loop proportional gain 1, type plate" stor‐
ed in the encoder data memory and intended for operating the connected
motor at a PWM switching frequency of 4000 Hz.
Use During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "S-0-0106". In this context, there is an automatic adjustment to
"P-0-0001, Switching frequency of the power output stage" and to the per‐
formance setting parameterized in "P-0-0556, Config word of axis controller".
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-2106 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: V/A Extr. val. ch.: -- Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Default value for "S-0-0107, Current loop integral action time 1" stored in the
encoder data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "S-0-0107".
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-2107 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: ms Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value stored in the encoder data memory for the maximum current that can
temporarily flow in the motor without the motor being destroyed. When the
controller is switched on and during the transition "PM → OM", the content of
the parameter is copied to the effective parameter "S-0-0109, Motor peak
current".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-2109 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: A Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Value stored in the encoder data memory for the current that can continuous‐
ly flow in the motor without the motor being destroyed. When the controller is
switched on and during the transition "PM → OM", the content of the parame‐
ter is copied to the effective parameter "S-0-0111, Motor current at standstill".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-2111 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: A Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value stored in the encoder data memory for the maximum possible motor
speed. When the controller is switched on and during the transition "PM →
OM", the content of the parameter is copied to the effective parameter
"S-0-0113, Maximum motor speed".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-2113 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: rpm Extr. val. ch.: -- Decim. pl.: 4
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Text for the motor type stored in the encoder data memory. During execution
of command "C0700 Load defaults proced. command (motor-spec. controller
val.)", the content of this parameter is copied to parameter "S-0-0141, Motor
type".
Diagnostic message "F2008 RL The motor type has changed" is based on
the comparison of "S-0-0141" with "P-0-2141".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-2141 - Attributes Function: Par Editable: PM Data length: 1Byte var.
Memory: PARAM_SP Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value available in the encoder data memory for the maximum allowed ope‐
rating temperature of the motor. When the controller is switched on and dur‐
ing the transition "PM → OM", the content of the parameter is copied to the
effective parameter "S-0-0204, Motor shutdown temperature".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-2204 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: °C Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Default value stored in the encoder data memory for the release delay of the
motor holding brake.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "S-0-0206, Drive on delay time".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 817/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Default value stored in the encoder data memory for the clamping delay of
the motor holding brake.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "S-0-0207, Drive off delay time".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-2207 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: ms Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Parameter set switching is configured with this parameter. The parameter
groups that are included in parameter set switching are defined and the
switching behavior is parameterized.
See also Functional Description "Parameter set switching"
Structure The individual bits of the parameter have the following significances:
818/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function This parameter is used to define the number of switchable parameter sets
which are available in the drive firmware.
See also Functional Description "Parameter Set Switching"
Use
The parameter set switching functions is included in the base
package of MPE.
Parameter set 0 1 2 3 4 5 6 7
number
Value in 0
P-0-2217
1
2
3
4
5
6
7
Product-specific parameters
Function This parameter can be used to enter a waiting time for defined delay of pa‐
rameter set switching.
See also Functional Description "Parameter Set Switching"
Use
The parameter set switching functions is included in the base
package of MPE.
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
4.15.193 P-0-2515, SMO: Signal control for discrete outputs, IDN assignment
Function "P-0-3335.0.1" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
4.15.194 P-0-2516, SMO: Signal control for discrete outputs, bit number
Function "P-0-3335.0.2" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
4.15.195 P-0-2517, SMO: Signal ctrl for discrete outputs, possible source IDNs
Function "P-0-3335.0.3" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
4.15.196 P-0-2518, SMO: Signal ctrl for discrete outputs, possible source bits
Function "P-0-3335.0.4" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
4.15.197 P-0-2519, SMO: Signal control, status, safe bus, IDN assignment
Function "P-0-3336.0.1" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
4.15.198 P-0-2520, SMO: Signal control, status, safe bus, bit number
Function "P-0-3336.0.2" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
4.15.199 P-0-2521, SMO: Signal control, status, safe bus, possible source
IDNs
Function "P-0-3336.0.3" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
4.15.200 P-0-2522, SMO: Signal control, status, safe bus, possible source bits
Function "P-0-3336.0.4" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
Product-specific parameters
4.15.207 P-0-2529, SMO: Signal control, status, safe bus, SMMx coding
Function "P-0-3336.0.5" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
Product-specific parameters
4.15.223 P-0-2545, SMO: Control word of safe braking and holding function
Function "P-0-3265.0.2" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function This parameter displays a code through which the drive development staff
can diagnose internal power section statuses.
The entires in this parameter are automatically made by the control unit de‐
pending on the internal statuses. The time of the entry is logged in
"P-0-2602.0.2, Timestamp of power section logbook event".
Function This parameter displays the time of the last entry in "P-0-2602.0.1, Power
section logbook event". The value for "P-0-2602.0.20, Operating hours coun‐
ter of power section" is logged in parameter "P-0-2602.0.2" at the proper
time.
Product-specific parameters
Function This parameter is used to display the operating hours of the power section
from the time the device was delivered. It refers to the time in which the drive
was operated with control enable activated.
Function Summary of the structure elements for the power section logbook data
(P-0-2602.0.1 to P-0-2602.0.20).
P-0-2602.0.130 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function For IndraDrive CLM/ML devices, the parameter contains the type data of all
modules in XML format. In case of service, the parameter is used to deter‐
mine the hardware and firmware versions of the device.
P-0-2603.0.50 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: LT_SP Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function The possible maximum flow is stored in this parameter. The value results
from the performance data of the valve and electronics and is stored as de‐
fault value in the valve.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 853/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The permissible maximum pressure for the valve is stored as default value in
this parameter.
P-0-2875.0.4 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: bar Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Parameter "P-0-2944, Motor nominal speed" indicates the nominal speed of
the drive motor in the operation modes "pressure/swivel angle control" or
"pressure/flow" (open/closed-loop control).
P-0-2944 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: 1/min Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Function This parameter contains the identification data for motors with encoder data
memory. For Rexroth motors with encoder data memory, it is stored there
when the motor is assembled.
Product-specific parameters
Function Value stored in the encoder data memory for encoder 1. When the controller
is switched on and during the transition "PM → OM", the content of the pa‐
rameter is copied to the effective parameter "P-0-0074".
This function is only available for Rexroth motors with encoder data memory.
See also functional description "Rexroth housing motors with encoder data
memory"
P-0-3001 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value stored in the encoder data memory for number of pole pairs/pole pair
distance. When the controller is switched on and during the transition "PM →
OM", the content of the parameter is copied to the effective parameter
"P-0-0018, Number of pole pairs/pole pair distance".
This function is only available for Rexroth motors with encoder data memory.
See also functional description "Rexroth housing motors with encoder data
memory"
P-0-3002 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Pole pairs Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value for the rotor inertia of the motor stored in the encoder data memory.
When the controller is switched on and during the transition "PM → OM", the
content of the parameter is copied to the effective parameter "P-0-0510, Ro‐
tor inertia".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3003 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: kgm² Extr. val. ch.: -- Decim. pl.: 7
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Default value for "P-0-0004, Velocity loop smoothing time constant" stored in
the encoder data memory.
Use During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "P-0-0004". This function is only available for Rexroth motors with
encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-3004 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: us Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value for the torque/force constant of the motor stored in the encoder data
memory. When the controller is switched on and during the transition "PM →
OM", the content of the parameter is copied to the effective parameter
"P-0-0051, Torque/force constant". .
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3005 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Nm/A Extr. val. ch.: -- Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value stored in the encoder data memory for the rated speed of an asynchro‐
nous motor. When the controller is switched on and during the transition "PM
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 859/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Value for the stator resistance of the motor stored in the encoder data memo‐
ry. When the controller is switched on and during the transition "PM → OM",
the content of the parameter is copied to the effective parameter "P-0-4048,
Stator resistance".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3007 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Ohm Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value for the commutation offset of the synchronous motor stored in the en‐
coder data memory. When the controller is switched on and during the transi‐
tion "PM → OM", the content of the parameter is copied to the effective pa‐
rameter "P-0-0508, Commutation offset ".
See also Functional Description: "Rexroth Housing Motors With Encoder Da‐
ta Memory"
P-0-3008 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: FEEDBACK Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Information on the motor holding brake stored in the encoder data memory.
In the case of MSK and, if required, MAD and MAF motors, the bits are writ‐
ten to the bits 0 and 2 of the effective parameter "P-0-0525, Holding brake
control word" when the controller is switched on and during the transition "PM
→ OM". All other bits of P-0-0525 can be freely written.
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3009 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value for the nominal torque of the motor holding brake stored in the encoder
data memory.
When the controller is switched on and during the transition "PM → OM", the
content of the parameter is copied to the effective parameter "P-0-0540, Tor‐
que of holding brake".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3010 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Nm Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value for the current of the motor holding brake stored in the encoder data
memory.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 861/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Characteristic value, stored in the encoder data memory, for the temperature
sensor incorporated in the motor winding. When the controller is switched on
and during the transition "PM → OM", the content of the parameter is copied
to the effective parameter "P-0-0512, Temperature sensor".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3012 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value for the magnetizing current in the rated point of the motor stored in the
encoder data memory. When the controller is switched on and during the
transition "PM → OM", the content of the parameter is copied to the effective
parameter "P-0-4004, Magnetizing current".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3014 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: A Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Limit value for the flux-generating current stored in the encoder data memory.
When the controller is switched on and during the transition "PM → OM", the
content of the parameter is copied to the effective parameter "P-0-4005, Flux-
generating current, limit value".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3015 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_MV
Unit: A Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value stored in the encoder data memory for the direct-axis inductance of a
synchronous motor. When the controller is switched on and during the transi‐
tion "PM → OM", the value is copied to the effective parameter "P-0-4016, Di‐
rect-axis inductance of motor".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3016 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: mH Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function
Value stored in the encoder data memory for the quadrature-axis inductance
of a synchronous motor. When the controller is switched on and during the
transition "PM → OM", the value is copied to the effective parameter
"P-0-4017, Quadrature-axis inductance of motor".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 863/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3017 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: mH Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function List of inductance values of the characteristic of the motor quadrature-axis in‐
ductance stored in the encoder data memory. When the controller is switched
on and during the transition "PM → OM", the content of the parameter is cop‐
ied to the effective parameter "P-0-4002, Charact. of quadrature-axis induct.
of motor, inductances".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3018 - Attributes Function: Par Editable: PM Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function List of current values of the characteristic of the motor quadrature-axis induc‐
tance stored in the encoder data memory. When the controller is switched on
and during the transition "PM → OM", the content of the parameter is copied
to the effective parameter "P-0-4003, Charact. of quadrature-axis inductance
of motor, currents".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3019 - Attributes Function: Par Editable: PM Data length: 2Byte var.
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Value for the thermal time constant of the motor winding stored in the encod‐
er data memory. When the controller is switched on and during the transition
"PM → OM", the content of the parameter is copied to the effective parameter
"P-0-4034, Thermal time constant of winding".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3020 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value for the thermal time constant of the motor stored in the encoder data
memory. When the controller is switched on and during the transition "PM →
OM", the content of the parameter is copied to the effective parameter
"P-0-4035, Thermal time constant of motor".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3021 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: min Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value for the thermal short-time overload of the winding stored in the encoder
data memory. When the controller is switched on and during the transition
"PM → OM", the content of the parameter is copied to the effective parameter
"P-0-4037, Thermal short-time overload of winding".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 865/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3022 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Factor for the current limit value for synchronous motors stored in the encod‐
er data memory; if the limit value is exceeded, the magnets run the risk of be‐
ing demagnetized. When the controller is switched on and during the transi‐
tion "PM → OM", the content of the parameter is copied to the effective pa‐
rameter "P-0-4013, Current limit value of demagnetization".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3023 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: % Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function For KSD motors (IndraDrive Mi), the brake voltage is derived from the DC
bus voltage. This parameter defines the brake voltage required for the instal‐
led brake.
Product-specific parameters
Function Default value for "P-0-0528, Flux control loop proportional gain" stored in the
encoder data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "P-0-0528". This function is only available for Rexroth motors with
encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-3028 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 2
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Default value for "P-0-0529, Scaling of stall current limit" stored in the encod‐
er data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "P-0-0529". This function is only available for Rexroth motors with
encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-3029 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: % Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Default value for "P-0-0532, Premagnetization factor" stored in the encoder
data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "P-0-0532".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-3032 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: % Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Default value for "P-0-0533, Voltage loop proportional gain" stored in the en‐
coder data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "P-0-0533".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-3033 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: A/V Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Default value for "P-0-0534, Voltage loop integral action time" stored in the
encoder data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "P-0-0534".
This function is only available for Rexroth motors with encoder data memory.
868/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-3034 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: ms Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Default value for "P-0-0535, Motor voltage at no load" stored in the encoder
data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "P-0-0535".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-3035 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: % Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Default value for "P-0-0536, Maximum motor voltage" stored in the encoder
data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "P-0-0536". This function is only available for Rexroth motors with
encoder data memory.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-3036 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: % Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Value for the stator leakage inductance of an asynchronous motor stored in
the encoder data memory. When the controller is switched on and during the
transition "PM → OM", the content of the parameter is copied to the effective
parameter "P-0-4039, Stator leakage inductance".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3039 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: mH Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value for the rotor leakage inductance of an asynchronous motor stored in
the encoder data memory. When the controller is switched on and during the
transition "PM → OM", the content of the parameter is copied to the effective
parameter "P-0-4040, Rotor leakage inductance".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3040 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: mH Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value stored in the encoder data memory for the magnetizing inductance of
an asynchronous motor. When the controller is switched on and during the
transition "PM → OM", the content of the parameter is copied to the effective
parameter "P-0-4041, Motor magnetizing inductance".
870/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3041 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: mH Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Value stored in the encoder data memory for the rotor time constant of an
asynchronous motor. When the controller is switched on and during the tran‐
sition "PM → OM", the content of the parameter is copied to the effective pa‐
rameter "P-0-4043, Rotor time constant".
This function is only available for Rexroth motors with encoder data memory.
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
P-0-3043 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: ms Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
4.16.37 P-0-3044, Motor torque at nominal current with reluctance, type plate
Allocation Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Hardware --
Funct. package(s): --
Device parameter: axis-specific
Function If the reluctance torque is used, the available motor torque is increased while
the current remains the same. This requires an appropriate motor construc‐
tion. If reluctance is used at nominal current, parameter "P-0-3940" specifies
the corresponding torque and/or force developed by the motor if the reluc‐
tance effect is utilized. The current to which the torque refers, is entered in
parameter "S-0-0111, Motor current at standstill".
The value of the torque must be higher than the torque calculated from the
product of:
P-0-0051, Torque/force constant * S-0-0111, Motor current at standstill
P-0-3044 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Nm Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function If the reluctance torque is used, the available motor torque is increased while
the current remains the same. This requires an appropriate motor construc‐
tion. If reluctance is used at maximum current, parameter "P-0-3941" speci‐
fies the corresponding torque and/or force developed by the motor if the re‐
luctance effect is utilized. The current to which the torque refers, is entered in
parameter "S-0-0109, Motor peak current".
The value of the torque must be higher than the torque specified in parameter
"S-0-0534, Maximum torque/force of motor".
P-0-3045 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Nm Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function If the reluctance torque is used, the available motor torque is increased while
the current remains the same. This requires an appropriate motor construc‐
tion. Parameter "P-0-3942, Reluctance angle at nominal motor current" speci‐
fies the electrical angle by which the current is to be imprinted into the motor
872/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
as compared with the commutation offset. The angle applies to the current
value which is specified in parameter "S-0-0111, Motor current at standstill".
P-0-3046 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Deg Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function If the reluctance torque is used, the available motor torque is increased while
the current remains the same. This requires an appropriate motor construc‐
tion. Parameter "P-0-3943, Reluctance angle at maximum motor current"
specifies the electrical angle by which the current is to be imprinted into the
motor as compared with the commutation offset. The angle applies to the cur‐
rent value which is specified in parameter "S-0-0109, Motor peak current".
P-0-3047 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Deg Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The motor control parameters for different control methods are stored in the
electronic type plate. The parameter is available as of memory version 4.6 of
the type plate parameters.
Configuration bits are stored for controlling synchronous motors according to
the reluctance principle. When the type plate parameters are loaded to the
drive controller, these bits are copied in parameter "P-0-4014, Type of con‐
struction of motor" that is active for control.
P-0-3048 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is only available for Rexroth motors with QEM encoder data
memory version 4 (MSK) and 7 (MS2N). It displays the operating hours coun‐
ter data stored in the encoder.
The count of the operating hours counter is determined by the controller at 2-
ms intervals (P-0-2051) and stored hourly in the active, non-volatile parame‐
ter memory.
However, "P-0-3051" is only updated after the control voltage supply has
been switched on by storing the value of "P-0-2051" in "P-0-3051", if neces‐
sary.
Function Parameter "P-0-3052" is used to display the thermal operating data of the
motor stored in the encoder data memory.
874/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
This parameter is only available for Rexroth motors with QEM encoder data
memory version 4 (MSK) and 7 (MS2N). It displays the thermal operating da‐
ta of the motor stored in the encoder. Refer to "Structure".
The thermal operating data are determined by the controller at 2-ms intervals
(P-0-2052) and stored hourly to the active, non-volatile parameter memory.
However, "P-0-3052" is only updated after the control voltage supply has
been switched on by storing the value of "P-0-2052" to"P-0-3052" if necessa‐
ry.
Tab. 4-229: List elements of P-0-3052, encoder memory, thermal operating data,
motor
The thermal operating data of the above-mentioned Rexroth motors is availa‐
ble in the encoder data memory for servicing and can be used for assessing
the motor failure.
P-0-3052 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: FEEDBACK Validity ch.: -- Format: DEC_MV
Unit: °C Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is only available for Rexroth motors with QEM encoder data
memory version 4 (MSK) and 7 (MS2N). It displays the mechanical operating
data of the motor stored in the encoder.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 875/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
The mechanical operating data are determined by the controller at 2-ms inter‐
vals (P-0-2053) and stored hourly to the active, non-volatile parameter mem‐
ory.
However, "P-0-3053" is only updated after the control voltage supply has
been switched on by storing the value of "P-0-2053" to"P-0-3053" if necessa‐
ry.
Function Motor-specific value for the maximum torque of the motor stored in the type
plate. When the controller is switched on, the value, in the case of MSK mo‐
tors is copied to the effective parameter "S-0-0534, Maximum torque/force of
motor".
See also Functional Description "Correction of Torque/Force Constant"
P-0-3055 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Nm Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
876/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Motor-specific value for the continuous torque at standstill of the motor stored
in the type plate. When the controller is switched on, the value, in the case of
MSK motors is copied to the effective parameter "S-0-0533, Nominal torque/
force of motor".
See also Functional Description "Correction of Torque/Force Constant"
P-0-3056 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: Nm Extr. val. ch.: -- Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Motor-specific value for the thermal torque/force coefficient stored in the type
plate.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 877/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function For temperature sensors providing a measured value of the motor tempera‐
ture, this parameter defines switching on and off of the fan. The signal for
switching on corresponds to the value of the parameter. The signal for
switching off is 10K lower.
P-0-3060.0.1 - Attributes Function: Par Editable: PM Data length: 2Byte
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: S-0-0208 Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter defines the temperature difference by which the motor shut‐
down temperature is reduced by the temperature model depending on the
current speed. The data are specified according to the currently set tempera‐
ture scaling based on 1000 revolutions per minute.
Example: For scaling in degrees Celsius, a value of 3.0 in this parameter de‐
fines that the motor shutdown temperature is to be reduced by 3.0 °C at a
speed of 1000 rpm.
Speed-dependent motor shutdown temperature reduction is initialized de‐
pending on the mounting situation from the respective list element in parame‐
ter "P-0-3060.0.5". The mounting position is defined in "P-0-3060.0.4".
878/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function With this parameter, the motor mounting situation is defined. Based on this,
the speed-dependent motor shutdown temperature reduction is set.
Structure Possible mounting situations are:
0 Gears
Under this mounting situation, the gear temperature is also
increased. For this reason, only a low overtemperature is
admissible.
1 60 K:
Under this mounting situation, a maximum housing over‐
temperature of 60 K is admissible.
2 100 K:
Under this mounting situation, a maximum winding over‐
temperature of 100 K is admissible.
Function This parameter contains factors for the possible mounting situations and rela‐
ted cooling conditions of the motor. Based on the respective factor, the shut‐
down temperature of the related mounting situation of the motor is to be re‐
duced accordingly by the motor temperature model.
Structure The list is structured as follows:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 879/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This list parameter contains the thermal motor data applied for control in the
motor temperature model.
The thermal time constant housing is also applied for the rotor protective
function.
Only if all thermal parameters have a value above zero, the motor
temperature model is activated.
Product-specific parameters
Function The fan control provides a status bit in "P-0-3061", which has to be assigned
to the digital output of the control section to control the motor fan.
Structure
Bit Designation/function Comment
Function This parameter contains the identification data of the motor. The parameter is
stored in the motor data memory. If the firmware detects this type of motor,
e.g. MS2N motors, the data are copied to the controller when switching on
the control voltage.
On "P-0-0660, C6300 Command Generate nameplate", the identification data
of third-party motors (to be configured by the customer) are displayed in this
parameter and stored in the encoder memory (password required).
For Rexroth motors, the following data are stored:
● S-0-1300.20.03, Vendor Code
● S-0-1300.20.04, Device Name
● S-0-1300.20.08, Hardware version
● S-0-1300.20.11, Order Number
● S-0-1300.20.12, Serial Number
● P-0-3100, Version of data structure in encoder memory
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 881/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter contains the type data of the motor. The parameter is stored
in the motor data memory. If the firmware detects this type of motor, the data
are copied to the controller when switching on the control voltage.
On "P-0-0660, C6300 Command Generate nameplate", the type data of third-
party motors (to be configured by the customer) are displayed in this parame‐
ter and stored in the encoder memory (password required).
For Rexroth motors, it may contain the following parameter data.
● S-0-0109, Motor peak current
● S-0-0111, Motor current at standstill
● S-0-0113, Maximum motor speed
● S-0-0204, Motor shutdown temperature
● S-0-0533, Nominal torque/force of motor
● S-0-0534, Maximum torque/force of motor
Product-specific parameters
Function This parameter contains the default control data of the motor stored in the
motor data memory. If the firmware detects this type of motor, e.g. MS2N mo‐
tors, the data can be loaded into the controller with the controller default val‐
ues command (motor-specific controller values).
On execution of "P-0-0660, C6300 Command Generate nameplate", the de‐
fault controller data of third-party motors (to be configured by the customer)
are displayed in this parameter and stored in the encoder memory (password
required).
For Rexroth motors, it may contain the following parameter data:
● S-0-0100, Velocity controller proportional gain
● S-0-0101, Velocity controller integral action time
● S-0-0104, Position controller Kv-factor
● S-0-0106, Current controller proportional gain 1
● S-0-0107, Current controller integral action time 1
● P-0-0004, Velocity controller smoothing time constant
● P-0-0533, Voltage controller proportional gain
● P-0-0534, Voltage controller integral action time
● P-0-0535, Motor voltage at no load
● P-0-0536, Maximum motor voltage
● P-0-3945, Motor control configuration
P-0-3073 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: FEEDBACK Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains the application-specific default values of the motor
stored in the motor data memory. If the firmware detects this type of motor,
e.g. MS2N motors, the data can be loaded into the controller with the control‐
ler default values command (application data).
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 883/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter indicates the version of the data structure in the encoder
memory of Rexroth motors.
Encoder
memory ver‐
Motor sion P-0-3100 Comment
Product-specific parameters
Function This parameter contains the version name of the safety firmware.
P-0-3200 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter shows the content of the SMO certificate for the firmware of
the safety option. The certificate contains information on the firmware version
of the two safety processors.
The parameter contains a binary memory snapshot, which can be shown as
plain language text via an IndraWorks dialog.
P-0-3200.0.1 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter displays the content of the assembly code of the safety op‐
tion.
P-0-3200.0.5 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter displays the content of the circuit board code of the safety op‐
tion.
P-0-3200.0.6 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter serves to configure the behavior while "Safe Motion" is not
active in order to be able to implement functional commissioning prior to
"Safe Motion" commissioning.
Properties:
● Is only taken into account by "Safe Motion" in the non-active state
(P-0-3230)
● Is not write-protected by "P-0-3230.0.1, SMO: Password"
● Is not contained in "P-0-3232, SMO: Parameter image"
● Does not have to be verified
● Has zero as default value
886/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function In parameter "P-0-3203", the required and licensed optional safety firmware
packages can be activated.
Function This parameter contains the command for measuring the position difference
during axis validation. The measurement is started on start of the command.
When the command is stopped, the measurement is stopped and the result is
displayed in "P-0-3210.0.1, SMO: Measured position difference".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 887/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter contains the position difference which was determined at the
end of the "P-0-3210, C8600 SMO: Command Measure position difference"
measurement command.
P-0-3210.0.1 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter serves to display and store the axis validation.
Structure
Bit Designation/function Comment
Function Performing the machine acceptance test in the "error reaction" testing point
requires to check the drive reaction to safety technology errors occurring.
Specifically for this purpose, this parameter features the option of generating
F3 and/or F7 errors.
888/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Bit 0 and bit 1 are evaluated every time the parameter "P-0-3211" is written. If
a bit has been set, the error belonging to the bit is generated once per write
request.
Structure
Bit Designation/function Comment
0 Generating F3 errors
0: No F3100 error
1: F3100 - an error is present
1 Generating F7 errors
0: No F7100 error
1: F7100 - an error is present
4.17.13 P-0-3215, SMO: Velocity command value for SOS check function
Allocation Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S3, S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Function This parameter serves to enter the velocity for the "SMO: Safe standstill"
check function.
Product-specific parameters
Function The parameter defines the percentage evaluation factor for calculating the
velocity limit value of the positioning operation modes when using Safe Mo‐
tion.
Function This parameter can be used to configure the support functions for Safe-Mo‐
tion.
Structure
Bit Significance Comment
0 1: Active
Note: The scaling of the velocity must be identical for Safe
Motion and the standard firmware, otherwise the function
cannot be activated
Product-specific parameters
Function The command C8000 is used for adopting the scaling data from the standard
firmware in Safe Motion. This allows a uniform scaling to be set.
P-0-3220 - Attributes Function: Cmd Editable: PM Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter serves to set the polarity in the safety technology. The polari‐
ty can only be set identically for all scaling types (position, velocity, accelera‐
tion).
0 Polarity
0: Positive
1: Negative
Function If a mechanical gear is installed between the motor and load, the gear ratio of
the gear is entered via "P-0-3321.0.2" and "P-0-3221.0.3, SMO: Output revo‐
lutions of load gearbox".
Product-specific parameters
Function If a mechanical gear is installed between the motor and load, the gear ratio of
the gear is entered via "P-0-3321.0.3" and "P-0-3221.0.2, SMO: Input revolu‐
tions of load gearbox".
Function This parameter is only relevant for linear axes driven by a rotary motor. The
feed constant is the distance covered by the axis, when the gear output shaft
or motor shaft performs one rotation.
Product-specific parameters
Function If the modulo format is set (P-0-3222.0.1, SMO: Scaling type for position da‐
ta, bit 7) the modulo value specifies the number value when the position data
overflows on "0".
Function With the parameter "P-0-3221.0.7", the largest possible mechanical travel
distance of the machine is defined.
Product-specific parameters
Function The scaling type of the position data determines the format and the relation in
which the position data are exchanged between the drive and the control or
user interface. The values of the position data parameters (e.g. P-0-3257,
SMO: Position feedback value) are displayed by the drive with the set scal‐
ing. The scaling setting is usually defined by the control.
Product-specific parameters
Function With linear parameter scaling (P-0-3222.0.1), this parameter is used to define
the scaling factor and decimal format (decimal place) of the position data pa‐
rameters.
Function The smallest phase value for the rotary position data parameter is defined for
the rotary parameter scaling (P-0-3222.0.1) with this parameter.
Fig. 4-84: Smallest angle value for the rotary position data parameters
Product-specific parameters
Function The scaling type of the velocity data defines the format and the relationship in
which the velocity data are exchanged between the drive and the control or
interface.
Product-specific parameters
Function With parameter scaling (P-0-3223.0.1), this parameter is used to define the
scaling factor and decimal format of the velocity data.
Product-specific parameters
Function The scaling type of the acceleration data determines the format and the rela‐
tion in which the acceleration data is exchanged between the drive and the
control or the interface. The values of the acceleration data parameters are
shown by the drive with the set scaling. The setting of the scaling is normally
specified by the control.
Product-specific parameters
Function With parameter scaling (P-0-3224.0.1), this parameter is used to define the
scaling factor and decimal format (decimal place) of the acceleration data pa‐
rameters.
Function If "Ramp time" scaling type is set as "P-0-3224.0.1, SMO: Scaling type for ac‐
celeration data", the value in this parameter and the ramp reference time
serve as definition quantities for the reference velocity ramp. The value of
"P-0-3224.0.3" is scaled according to the scaling type for velocity data set in
"P-0-3223.0.1, SMO: Velocity data scaling type".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 899/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter shows the current status of "P-0-3230.0.1, SMO: Password".
Structure
Level Designation/function Status
Product-specific parameters
Function Parameter "P-0-3230.0.1" can be used to activate the safety technology. The
password serves to disable and enable write access to all relevant safety
technology parameters.
Structure Password inputs.
● At least 3 characters and no more than 10 characters long
● permissible characters are "A - Z", "a - z" and numerals "0 - 9"
If the safety technology password is not as specified, the password entered is
discarded.
Product-specific parameters
Function This parameter provides binary status signals for online monitoring of the
"Safety technology operating status" of the Safe Motion.
Structure
Bit Significance Comment
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function This parameter contains a list of all safety technology parameters that have
not been verified yet. This list presents every non-verified parameter as a 32-
bit hexedecimal value.
P-0-3233 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters displays the unique configuration data record identifier stor‐
ed in the safety option for diagnostic purposes. This identifier can be used to
determine whether the safety-technology acceptance of the axis must be re‐
peated after a parameter change (check of the scaling settings as compared
with the real axis movement). If the configuration identifier has remained un‐
changed as compared with the last state accepted, acceptance of the axis
does not have to be repeated.
P-0-3234.0.1 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter displays the state of the operating hours counter of the con‐
trol section at the time when the safety parameters were changed the last
time. It cannot be changed by the user.
P-0-3234.0.2 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter displays the state of the internal configuration parameter
change counter. It is incremented with each write access to a configuration
parameter and cannot be directly changed by the user.
P-0-3234.0.3 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters displays the unique parameterization data record identifier
stored in the safety option for diagnostic purposes.
P-0-3234.0.4 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter displays the state of the operating hours counter of the con‐
trol section at the time when the safety parameters were changed the last
time. It cannot be changed by the user.
P-0-3234.0.5 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: -- Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter displays the state of the internal parameterization parameter
change counter. It is incremented with each write access to a parameteriza‐
tion parameter and cannot be directly changed by the user.
P-0-3234.0.6 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter contains a text which uniquely describes the function of the
axis and the application in which it is used.
Product-specific parameters
Function This parameter can be used to assign a new "SMO: Active axis identifier".
This requires that the character string:
● Does not correspond to the default value of "P-0-3235.0.1, SMO: Active
axis identifier"
● Is unequal to "P-0-3230.0.1, SMO: Password"
● Must comprise ≥ 3 and ≤ 44 characters
● Is limited to a range between 20 and 7D (hex) in the UTF-8 characters.
– 0123456789
– ABCDEFGHIJKLMNOPQRSTUVWXYZ
– abcdefghijklmnopqrstuvwxyz
– !#$%&()*+-.,<>=?@[]_{}|
P-0-3235.0.2 - Attributes Function: Par Editable: SCM Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function In connection with "P-0-3235.0.4, SMO: Axis identification: Control word", this
command controls the acceptance of the proposed identification parameters.
P-0-3235.0.3 - Attributes Function: Cmd Editable: PM Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter controls axis identification. The identification is activated via
bits 0 and 1. The axis reacts with a visual signal. In this state, the identifica‐
tion can be confirmed by starting "P-0-3235.0.3, C8500 SMO Command Ap‐
ply identification data". When the command C8500 is carried out, the identifi‐
cation data are applied for which the bit in "P-0-3235.0.4" has been set to "1".
Once the command has been completed successfully, the bits are reset to
"0".
Structure
Bit Designation/function Comment
Function
Product-specific parameters
Function The parameter contains the proposed axis identifier for the automated serial
commissioning.
P-0-3235.0.6 - Attributes Function: Par Editable: SCM Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter contains the proposed "TUNID" for the automated serial com‐
missioning. The parameter is a 10-byte value.
P-0-3235.0.7 - Attributes Function: Par Editable: SCM Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used by the engineering tool to set the parameter which is
to be read for verification purposes. The display format is hexadecimal.
P-0-3236.0.1 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to read out the parameter selected in "P-0-3233,
SMO: Verification interface, configuration". Along with the data of the param‐
eter, the ident number, the attribute and a checksum of these data are also
transmitted to the engineering tool.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 911/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Via this parameter, the engineering tool acknowledges the parameter value
read out via "P-0-3236.0.2, SMO: Verification interface, data".
P-0-3236.0.3 - Attributes Function: Par Editable: PM Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter can be used to allow the engineering tool to read a random
value generated by the axis after power-on, which is required for generating
the data of "P-0-3236.0.3, SMO: Verification interface, acknowledgment".
P-0-3236.0.4 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter can be used to allow the engineering tool to write a randomly
generated value to the axis, which the axis required for checking the content
of "P-0-3236.0.3, SMO: Verification interface, acknowledgment".
P-0-3236.0.5 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter provides binary status signals for online monitoring of the
safety technology.
Structure
Bit Designation/function Comment
0 Safety state
0: Axis not safe
1: Axis safe
1 State of output stage disable
0: Enabled
1: Disabled:
Function This parameter displays the currently active velocity monitoring limit.
P-0-3238 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: -- Decim. pl.:
S-0-0046
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function After establishing the position data reference, the parameter shows the cur‐
rently active absolute positive position limit value. Without position data refer‐
ence, the parameter is set to the maximum value.
P-0-3238.0.1 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Product-specific parameters
Function After establishing the position data reference, the parameter shows the cur‐
rently active absolute negative position limit value. Without position data ref‐
erence, the parameter is set to the minimum value.
P-0-3238.0.2 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter is used to inform the safety technology about the encoder
type which is to be evaluated.
0 No encoder
No encoder (sensorless operation)
2 Encoder with sine signals
(1Vpp, 5V supply)
4 Encoder with sine signals and HIPERFACE interface Only the 1 Vpp
(SICK|STEGMANN) track is evalu‐
(1Vpp, 12V supply) ated.
Product-specific parameters
Product-specific parameters
0 Type of design:
0: Rotary
1: Linear
1 Rotational direction:
0: Not inverted
1: Inverted
12 Amplitude monitoring in normal operation: FW 20V08 and
0: Active above
Function This parameter specifies the encoder resolution for analog encoders.
● Rotary encoder: Number of division periods per shaft revolution (DP/rev)
● Linear encoder: Resolution in mm (mm/line count)
min./max.: P-0-3242.x.2 /
MPx / PSB: Default value: ---
P-0-3242.x.2
Function This parameter specifies the encoder resolution for digital encoders. The pa‐
rameter is not relevant to combined encoders.
● Rotary encoder: Number of increments per shaft revolution (incr/rev)
916/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter contains the phys. encoder configuration (resolution and
sense of motion) of the standard firmware and is used for adjusting the phys.
encoder configuration in the safety engineering.
The parameter is not relevant for the user. The format is specified further in
the firmware.
P-0-3245.x.131 - Attributes Function: Par Editable: ++ Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter serves to configure the safety technology encoder mounting
position.
0 Mounting position:
0: Encoder mounted on motor side
1: Encoder mounted on load side
Function This parameter defines the input revolutions (on encoder side) of the encoder
gear.
P-0-3252.x.3 - Attributes Function: Par Editable: SCM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: Rev Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function This parameter defines the output revolutions (on motor or load side) of the
encoder gear.
P-0-3252.x.4 - Attributes Function: Par Editable: SCM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: Rev Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Product-specific parameters
Function The parameter provides binary control signals for "P-0-3253.0.2, SMO:
C4000 Safe homing procedure command".
Structure
Bit Designation/function Comment
Function This parameter is used to configure the auxiliary function "Safe homing
procedure".
Structure
Bit Designation/function Comment
Product-specific parameters
Function The command parameter serves to establish the position data reference for
SMO. The command does not trigger any independent motion of the drive.
P-0-3253.0.2 - Attributes Function: Cmd Editable: OM Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Position parameter for "safe homing" containing the position value of the
SMO reference signal (P-0-3253.0.0). During command C4000, the SMO ref‐
erence signal is expected at this position +/- the tolerance range
(P-0-3253.0.4).
P-0-3253.0.3 - Attributes Function: Par Editable: SCM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Product-specific parameters
Function Bipolar tolerance range for safe homing. The tolerance range is applied for
different independent monitoring functions:
During command C4000:
● The plausibility of the position at which the SMO reference signal is rec‐
ognized is validated with "P-0-3253.0.3 SMO: Reference position" +/-
this tolerance range.
● It is checked that the distance between the SMO reference signal and
the reference switch of the standard firmware is at least as high as this
tolerance range multiplied by a factor of 2.
After the safe reference is established:
● For monitoring of the SMO reference signal for "stuck at high": Outside
of the SMO reference position (P-0-3253.0.3) +/- this tolerance range,
the SMO reference signal has to be on low level.
At cyclic checking of the safe reference:
● On triggering the reference event, the SMO position feedback value has
to be in the range of "P-0-3253.0.3, SMO: Reference position" +/- this
tolerance range.
P-0-3253.0.4 - Attributes Function: Par Editable: SCM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function The axis may be moved at this maximum velocity if safe homing is required
(bit 0 "Safety related homing procedure active" = 1 in P-0-3253.0.1) but the
safe reference is missing.
P-0-3253.0.5 - Attributes Function: Par Editable: SCM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: + Decim. pl.:
S-0-0046
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Product-specific parameters
Function If "cyclic checking of the safe reference" is configured (P-0-3253.0.1) and the
SMO reference signal (P-0-3253.0.0) is not recognized in the admissible po‐
sition range (P-0-3253.0.3 ± P-0-3253.0.4), the "status of the SMO encoder
position feedback value" is lost (P-0-3256). Additionally, error message
F3166 is generated.
The check is only performed if the velocity feedback value is below the veloc‐
ity threshold (P-0-3253.0.5) (same criteria for clear recognition at C4000).
The time interval is respectively restarted if the SMO reference signal is rec‐
ognized in the admissible range of if error F3166 is cleared.
P-0-3253.0.6 - Attributes Function: Par Editable: SCM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function This parameter defines a velocity threshold for safety standstill. It is signaled
in bit 6 of parameter "P-0-3256, SMO: Encoder evaluation status".
P-0-3255 - Attributes Function: Par Editable: SCM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: + Decim. pl.:
S-0-0046
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Product-specific parameters
Function The status displays the current state of the encoder evaluation. The parame‐
ter definition complies with the most important aspects of the Sercos encoder
specification.
Structure
Bit Designation/function Comment
Product-specific parameters
1: Negative
12 Encoder warning
0: No warning
1: Warning
13 Encoder error
0: No errors
1: Error
15/14 Encoder evaluation status
00: Not active
01: Active "error output OFF"
11: Active "error output ON"
Function The actual position value shows the current position of the safety technology
encoder. On initialization, it is set to "0" with relative evaluation.
P-0-3257 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
Cycl. tra.: AT Comb. check: -- Set-depend.: --
924/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The actual velocity value shows the current velocity of the safety technology
encoder.
P-0-3258 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: -- Decim. pl.:
S-0-0046
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter provides binary control signals for online control of the safety
functions via digital hardware inputs (local safety inputs) or via safe bus com‐
munication of the drive.
Structure
Bit Significance Comment
Product-specific parameters
Product-specific parameters
Function This parameter provides binary control signals for online control of the safety
functions via the master communication of the drive.
Structure In NC-controlled safety technology operation mode transitions (P-0-3280.0.1:
Bit 0 = 0),the control can shorten the transition times "P-0-3280.0.2" and
"P-0-3280.0.3" and "P-0-3280.0.4". The selected monitoring functions are ac‐
tive immediately.
0 NC-Ready
0: Inactive
1: Inactive
0-1 edge: Causes an immediate change to the selected
safety technology operating status. The "0-1 edge" can
only be evaluated if the control signal is at least 10 ms
zero.
Product-specific parameters
Function This parameter provides binary status signals for displaying the selected
safety technology operating status.
Structure
Bit Significance Comment
Product-specific parameters
Function The parameter is used to configure the "Safe Motion" error reaction.
Product-specific parameters
Emergency stop Fastest possible decel‐ □□□□0hex □□□0□ hex Not possible
Velocity command val‐ eration
ue reset
Emergency stop Deceleration protecting □□□□4 hex □□□4□ hex Not possible
Velocity command val‐ the mechanics while
ue reset with ramp and complying with emer‐
filter gency stop properties
Quick stop Deceleration protecting □□□□2 hex Not possible Not possible
Velocity command val‐ the mechanics while
ue reset with ramp and complying with quick
filter stop properties
NC/MLD error reaction For systematic return 1□□□□ hex Not possible Not possible
Error reaction control‐ motion in the case of
led by control unit error
Torque disable For slave axes, provi‐ □□□□1 hex □□□1□ hex □□□□□ hex
ded they have been
connected to the mas‐
ter axis in friction-
locked form
0□□□■ Parameterizable best possible deceleration as error reaction (see table "Options for parameterization ..." column
hex 3)
0hex: Velocity command value reset (emergency stop)
Note: Safe Motion monitors the reaction of the standard drive, using the safety function SMD
● The axis is decelerated taking parameter "P-0-0109" into account (vcmd = 0). There is no acceleration limita‐
tion.
● In open-loop V/Hz (U/f) control, "P-0-0109" is only used for deceleration if the stall protection controller has
been activated (P-0-0045). Maximum deceleration is determined by parameter "P-0-0569".
The maximum braking time to be expected under the most unfavorable operating conditions is entered in
"S-0-0273, Maximum drive off delay time".
Once "S-0-0273" elapses:
● For servo drives ("servo brake" function, P-0-0525), the holding brake is activated and drive enable is inter‐
nally switched off after "S-0-0207".
● For main spindle drives (main spindle brake function, P-0-0525), drive enable is internally switched off and
the holding brake is activated, if the velocity has fallen below 10 rpm.
930/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
2hex: Velocity command value reset with ramp and filter (quick stop)
Note: Safe Motion monitors the reaction of the standard drive, using the safety function SMD
In the case of an error, the closed-loop-controlled servo drive in velocity control, or the open-loop-controlled drive
in V/Hz (U/f) operation is decelerated with a command value ramp, determined by "S-0-0372" and the jerk limit
value "S-0-0349". If the value S-0-0327 = "0", the value in "S-0-0138" takes effect. Torque/force limitation is de‐
rived from parameter "P-0-0109".
Note: With open-loop V/Hz (U/f) control, the maximum deceleration is given by the value entered in "P-0-0569".
Product-specific parameters
4hex: Velocity command value reset with ramp and filter (emergency stop)
Note: Safe Motion monitors the reaction of the standard drive, using the safety function SMD.
In the case of an error, the closed-loop-controlled servo drive in velocity control, or the open-loop-controlled drive
in V/Hz (U/f) operation is decelerated with a command value ramp, determined by "S-0-0429" and the jerk limit
value "S-0-0349". If the value "S-0-0429" = "0", the value in "S-0-0138" takes effect. Torque/force limitation is
derived from parameter "P-0-0109".
Note: With open-loop V/Hz (U/f) control, the maximum deceleration is given by the value entered in "P-0-0569,
Maximum stator frequency slope".
■□□□□ NC/MLD error reaction
hex Note: Safe Motion monitors the "Safe maximum speed (SMS)". The reaction time is limited to "P-0-3263.0.6". If
the axis has not yet been decelerated and is not yet torque-free, the error reaction is aborted with an F7 error
message.
0hex: Deactivated
1hex: Activated
Tab. 4-260: Setting the way the drive is decelerated with the above criteria
P-0-3263.0.1 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: + Set-depend.: --
Verify: +
Product-specific parameters
Product-specific parameters
Function This parameter defines the maximum available time within which the drive
must be decelerated to standstill by means of "error reaction F3". If this is not
the case, the "F7050 Time for stopping process exceeded" or "F8350 Time
for stopping process exceeded" (if F3==F7 reaction) is generated.
See also "Safely-Monitored Deceleration (SMD)"
P-0-3263.0.6 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function This parameter defines the maximum available time within which the drive
must be decelerated to standstill by means of "error reaction F7". Otherwise,
error message "F8350 Time for stopping process exceeded" is generated.
See also: Safely-Monitored Deceleration (SMD)
P-0-3263.0.7 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function The parameter defines the maximum allowed jerk that is taken into account in
the velocity envelope curve for the monitoring of the drive-controlled error re‐
action, with velocity command value reset with ramp and filter, after F3 and
F7 errors.
With the value 0, the jerk is not taken into account.
934/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter provides binary control signals for online control of the safety
technology functions. The motion operation mode in special mode "Safe mo‐
tion" is selected in coded form.
Structure
Bit Designation/function Comment
Product-specific parameters
Product-specific parameters
Function This parameter represents binary status signals for displaying the status of
safety functions and provides them for Safe Motion. The status of the motion
operation mode in special mode "Safe motion" is displayed in coded form in
bit 30... 26.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 937/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function This parameter provides binary status signals regarding the current state of
safety functions.
Structure
Bit Designation/function Comment
Product-specific parameters
4.17.105 P-0-3265, SMO: Status word of safe braking and holding function
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Function The parameter provides the state of the safe holding system.
Structure
Bit Designation/function Comment
Tab. 4-264: SMO: Status word of safe braking and holding function
P-0-3265 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: + Set-depend.: --
Function The parameter is used to configure the safe braking and holding function.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 941/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
4.17.107 P-0-3265.0.2, SMO: Control word of safe braking and holding function
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Alias: P-0-2545
Function This parameter provides binary control signals for online control of the safe
brake via digital hardware inputs (local safe inputs).
Structure
Bit Designation/function Comment
Tab. 4-266: SMO: Control word of safe braking and holding function
With active SBC function, the signal can be used to activate the holding sys‐
tem if "P-0-3265.0.1: bit 1 = 1" and the "special mode safe standstill" safety
technology operating status is active with STO.
P-0-3265.0.2 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
942/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter displays the information which the zone node delivers to the
zone bus (bits 0 and 1) for diagnostic purposes. This information is formed
from the status of the preceding zone nodes (bits 4 and 5) and the status of
the zone node itself (bits 8 and 9).
In addition, it displays enabling of normal operation (bit 2) which is only es‐
tablished by the zone master. The states shown here do not lead to an axis
reaction of the zone node. tThese are shown in "P-0-3266.0.1, SMO: Safety
zone control word".
Structure
Bit Designation/function Comment
Product-specific parameters
Function This parameter displays information which the zone master reports to the
zone node via the zone bus. In addition, the status of the zone bus communi‐
cation is displayed.
Structure
Bit Designation/function Comment
Function This parameter serves to configure the axis for operation in a safety zone.
944/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
0 Zone formation
0: Single-axis acknowledgement (default) - self-sustaining
acknowledgement of safety through axis. (X42 and X43
are not wired)
1: Zone acknowledgement: The axis is connected to the
safety zone module via the zone bus (X42 and X43) to
form a safety zone.
1 Safety acknowledgement of the zone (effective only with
bit 0 = 1)
0: Zone node (default)
1: Zone master
4-2 Reserved
5 Control of safe door locking via the safety zone module
(only active when Bit 0 = 1 and Bit 1 = 1)
0: Not active (default)
1: Active
7/6 Reserved
8 Zone error reaction - reaction
Reaction of the zone node to a zone error
0: No reaction (default)
1: Reaction (E8300, with the same reaction as errors of
category F3)
9 Zone error reaction - signaling
The zone node signals to the safety zone its own safety
technology errors with regard to the zone error reaction.
0: No signaling (default)
1: Signaling (triggering of "zone reaction" in case of an
error)
Function This parameter provides binary control signals for online control of the safe
door locking (SDL).
The acknowledgement contacts of the safety door are provided via digital
hardware inputs (safe inputs) of the safety zone module.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 945/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The maximum tolerated delay between the control of the door locking device
and the door locking feedback (P-0-3266.0.3) in the case of state changes is
set using "P-0-3266.0.4, SMO: Tolerance time for Safe door locking".
The parameter has to be set in such a way that both the delays in the case of
door locking state changes and any contact bouncing of the feedback signals
are taken into account.
P-0-3266.0.4 - Attributes Function: Par Editable: SCM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: ms Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function This parameter provides binary control signals for statically influencing global
safety technology functions. By setting the respective bit, the associated
monitoring function in normal operation and special mode (with highest priori‐
ty) is activated.
946/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter defines the velocity monitoring limit for the "Safe maximum
speed" (SMS) safety function.
If the drive exceeds the parameterized velocity threshold, error message
F7020 is output. The drive is decelerated to standstill with the configured F7
error reaction.
P-0-3270.0.2 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: + Decim. pl.:
S-0-0046
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Product-specific parameters
● In the safety function "Safe direction (SDI)", the value defines the maxi‐
mum allowed travel distance in the non-enabled direction, in relation to
the actual position taken at the time of activation of the safety function.
If the "standstill window for safe direction" is left in the non-enabled di‐
rection, the error F7031 is generated.
● In the safety function "Safe CAM (SCA)", the parameter is used as a
switching hysteresis to prevent the cam status display at the cam limit
from flickering (due to encoder noise). Entering a cam range or exiting it
occurs after the parameterized switching hysteresis was passed. The
switching hysteresis that has been set takes effect on all cams.
● In the following safety functions, the parameter is applied as a monitor‐
ing window for the return to the allowed position range.
– Safely-limited end position (SLE)
– Safely-limited position (SLP)
– Safely-monitored position (SMP)
The value defines the maximum allowed travel distance in the non-
enabled direction in relation to the previous actual position (tracked
threshold).
If the monitoring window is left in the non-enabled direction, the safety
function-specific position limit value error is generated again:
– F7011 SMP, SLP: Safe position limit value, positive exceeded
– F7012 SMP, SLP: Safe position limit value, negative exceeded
– F7023 SLE: Safe position limit value, positive exceeded
– F7024 SLE: Safe position limit value, negative exceeded
P-0-3270.0.3 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function The allowed travel range of an axis can be defined by position limit values.
The "safe end position limit value, where positive" defines the maximum ad‐
missible position feedback value in positive direction.
The parameterized position limits (P-0-3270.0.4 and P-0-3270.0.5) are sub‐
ject to dual-channel monitored with the "Safely-limited end position (SLE)"
function if it has been configured in "P-0-3270.0.1" or "P-0-3277.0.1".
The following aspects have to be observed for use:
● Monitoring of the "Safely-limited end position (SLE)" will not become ef‐
fective before the drive has been safely homed (P-0-3256; bit 0).
● If the safety function recognizes faulty behavior during "Safely-limited
end position" monitoring, error message F7023 or F7024 are returned.
The drive is shut down with the configured F7 error reaction (torque dis‐
able is not admissible as F7 error reaction).
948/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The allowed travel range of an axis can be defined by position limit values.
The "safe end position limit value, negative" defines the maximum admissible
position feedback value in negative direction.
The parameterized position limits (P-0-3270.0.4 and P-0-3270.0.5) are sub‐
ject to dual-channel monitored with the "Safely-limited end position (SLE)"
function if it has been configured in "P-0-3270.0.1" or "P-0-3277.0.1".
The following aspects have to be observed for use:
● Monitoring of the "Safely-limited end position (SLE)" will not become ef‐
fective before the drive has been safely homed (P-0-3256; bit 0).
● If the safety function recognizes faulty behavior during "Safely-limited
end position" monitoring, error message F7023 or F7024 are returned.
The drive is shut down with the configured F7 error reaction (torque dis‐
able is not admissible as F7 error reaction).
P-0-3270.0.5 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function The "Safe CAM 1" can be parameterized in this list parameter.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 949/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The "Safe CAM 2" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 3" can be parameterized in this list parameter.
Function The "Safe CAM 4" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 5" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 6" can be parameterized in this list parameter.
Function The "Safe CAM 7" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 8" can be parameterized in this list parameter.
Function The "Safe CAM 9" can be parameterized in this list parameter.
954/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The "Safe CAM 10" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 11" can be parameterized in this list parameter.
Function The "Safe CAM 12" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 13" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 14" can be parameterized in this list parameter.
Function The "Safe CAM 15" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 16" can be parameterized in this list parameter.
Function The "Safe CAM 17" can be parameterized in this list parameter.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 959/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The "Safe CAM 18" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 19" can be parameterized in this list parameter.
Function The "Safe CAM 20" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 21" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 22" can be parameterized in this list parameter.
Function The "Safe CAM 23" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 24" can be parameterized in this list parameter.
Function The "Safe CAM 25" can be parameterized in this list parameter.
964/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The "Safe CAM 26" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 27" can be parameterized in this list parameter.
Function The "Safe CAM 28" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 29" can be parameterized in this list parameter.
Product-specific parameters
Function The "Safe CAM 30" can be parameterized in this list parameter.
Function The "Safe CAM 31" can be parameterized in this list parameter.
Product-specific parameters
Function The cam status of the 31 single cams is displayed in "binary-coded" form in
this parameter.
● Bit 15... 0 = 0000.0000.0000.0000:
Drive is not in a parameterized cam range or drive without safe refer‐
ence (default)
● Bit 15... 0 = 0000.0000.0000.0001:
Drive is in cam range 1
● Bit 15... 0 = 0000.0000.0000.0010:
Drive is in cam range 2
● Bit 15... 0 = 0000.0000.0000.0011:
Drive is in cam range 3
...
● Bit 15... 0 = 0000.0000.0001.1110:
Drive is in cam range 30
● Bit 15... 0 = 0000.0000.0001.1111:
Drive is in cam range 31
P-0-3273 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 969/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Depending on the configuration, the cam status of the first 16 single cams or
of the 8 multiple cams is displayed in "bit-coded" form in this parameter.
● Bit 15... 0 = 0000.0000.0000.0000:
Drive is not in a parameterized cam range or drive without safe refer‐
ence (default)
● Bit 15... 0 = 0000.0000.xxxx.xxx1:
Drive is in cam range 1
● Bit 15... 0 = 0000.0000.xxxx.xx1x:
Drive is in cam range 2
● Bit 15... 0 = 0000.0000.xxxx.x1xx:
Drive is in cam range 3
...
● Bit 15... 0 = 1xxx.xxxx.xxxx.xxxx:
Drive is in cam range 16
P-0-3273.0.1 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT Comb. check: -- Set-depend.: --
Function This parameter provides binary control signals for statically influencing safety
functions for normal operation. By setting the respective bit, the associated
monitoring is activated in normal operation.
970/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used to configure the safety technology operation mode
transitions.
Structure
Bit Designation/function Comment
Product-specific parameters
Function In case of transitions from normal operation to special mode "safe standstill"
or "E-STOP", this parameter defines the maximum available time after which
the command value system of the drive must have been adjusted to the new
operating status.
See also Safely-Monitored Deceleration (SMD)
972/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function In case of transitions from one safe operating status to another, this parame‐
ter defines the maximum available time after which the command value sys‐
tem of the drive must have been adjusted to the new operating status.
See also: Safely-Monitored Deceleration (SMD)
P-0-3280.0.3 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
4.17.157 P-0-3280.0.4, SMO: Max. transition time normal oper. to safe motion
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S3, S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Function In case of transitions from normal operation to special mode "safe motion",
this parameter defines the maximum available time after which the command
value system of the drive must have been adjusted to the new operating sta‐
tus.
See also: Safely-Monitored Deceleration (SMD)
P-0-3280.0.4 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function This parameter defines the maximum allowed time within which the input sig‐
nals may be different from the selection signals. The parameter defines the
maximum allowed time during which no or several SMM switches can be ac‐
tuated when the motion operation modes are selected.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
When the maximum allowed time is exceeded, the "F3141 Operating status
selection validation error" is generated
P-0-3280.0.5 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Product-specific parameters
Function The parameter defines the maximum allowed jerk that is taken into account in
the velocity envelope curve for monitoring the safety technology operating
status change with the transition function "Safely-monitored deceleration
based on actual velocity (SMDActVel)".
Product-specific parameters
Product-specific parameters
Function This parameter defines the maximum allowed travel distance in relation to ac‐
tual position taken at the time of activation of "Safe operating stop (SOS)".
If the parameterized position window is violated, the "F7030 Position window
for safe operating stop exceeded" error is generated.
P-0-3285.0.2 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function This parameter can be used to configure the safety functions in special mode
"safe motion".
Structure
Bit Designation/function Comment
Product-specific parameters
Function This parameter defines a velocity threshold (bipolar) for the safety function
"Safely-limited speed", which is always active in the special mode "Safe Mo‐
tion n" (n= 1-16). If the threshold is exceeded, the error message F7013
Safely-limited speed exceeded is generated.
P-0-3290.x.2 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0045 /
Unit: S-0-0044 Extr. val. ch.: + Decim. pl.:
S-0-0046
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Product-specific parameters
Function This parameter defines a relative position window for the "Special mode
"Safe Motion" n" (n = 1-16). This window is spread on start of the "Special
mode "Safe Motion" n" (n = 1-16) . For duration of the "Special mode "Safe
Motion" n" (n = 1-16), the drive can be freely moved within this position win‐
dow. If the function "Safely-limited increment" is activated in "Special mode
"Safe Motion" n" (n = 1-16), the error message F7010 Safely-limited incre‐
ment exceeded is emitted if this position window is exceeded.
P-0-3290.x.3 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function The allowed travel range of an axis can be defined by position limit values.
The "safe position limit value, positive" defines the maximum admissible posi‐
tion feedback value for "special operation safe motion n" (n = 1-16) in positive
direction.
Depending on the configuration in P-0-3290.x.1, the parameterized position
limits (P-0-3290.x.4 and P-0-3290.x.5) are subject to dual-channel monitoring
using the functions "Safely-monitored position (SMP)" (P-0-3290.x.1; bit 5 =
1) or "Safely-limited position (SLP)" (P-0-3290.x.1; bit 7 = 1 ).
The following aspects have to be observed for use:
● Monitoring of the "Safely-monitored position (SLP)" and "Safely-limited
position (SLP)" will not become effective before the drive has been safe‐
ly homed (P-0-3256; bit 0).
● If the safety function recognizes faulty behavior during "Safely-moni‐
tored position (SMP)" or "Safely-limited position (SLP)" monitoring, error
message F7011 or F7012 are returned. The drive is shut down with the
configured F7 error reaction (torque disable is not admissible as F7
error reaction for safety function "Safely-limited position (SLP)").
P-0-3290.x.4 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Product-specific parameters
Function The allowed travel range of an axis can be defined by position limit values.
The "safe position limit value, negative" defines the maximum admissible po‐
sition feedback value for "special operation safe motion n" (n = 1-16) in nega‐
tive direction.
Depending on the configuration in "P-0-3290.x.1", the parameterized position
limits (P-0-3290.x.4 and P-0-3290.x.5) are subject to dual-channel monitoring
using the functions "Safely-monitored position (SMP)" (bit 5 = 1 in
P-0-3290.x.1) or "Safely-limited position (SLP)" (bit 7 = 1 in P-0-3290.x.1).
The following aspects have to be observed for use:
● Monitoring of the "Safely-monitored position (SLP)" and "Safely-limited
position (SLP)" will not become effective before the drive has been safe‐
ly homed (P-0-3256; bit 0).
● If the safety function recognizes faulty behavior during "Safely-moni‐
tored position (SMP)" or "Safely-limited position (SLP)" monitoring, error
message F7011 or F7012 are returned. The drive is shut down with the
configured F7 error reaction (torque disable is not admissible as F7
error reaction for safety function "Safely-limited position (SLP)").
P-0-3290.x.5 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function The numerical value entered in the parameter defines the maximum time per‐
mitted for actuating the enabling control. After the time entered in this param‐
eter has elapsed, the enabling control must be removed. The time is effective
if the mode selector and an SMM switch are actuated in addition to the ena‐
bling control.
P-0-3290.x.6 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: s Extr. val. ch.: + Decim. pl.: 3
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Product-specific parameters
Function This parameter defines a time window for "Safely-monitored transient oscilla‐
tion" in "Special mode safe motion n" (n = 1-16). If monitoring is configured
(P-0-3290.x.1), the actual velocity of the axis may be out of the bipolar veloci‐
ty range (P-0-3290.x.8) for the defined time period. If the "Safely-limited
speed" is exceeded at the end of the tolerance time, error message "F7014
Timeout safely-monitored transient oscillation" is generated.
P-0-3290.x.7 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: ms Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Product-specific parameters
Function Parameter "P-0-3320" is used to map the safe inputs of the safety zone mod‐
ule (HSZ01).
Structure
Bit* Input Input pair
0/8 1/2 1
1/8 3/4 2
2/8 5/6 3
3/8 7/8 4
4/8 9 / 10 5
5/8 11 / 12 6
6/8 13 / 14 7
7/8 1 5/ 16 8
Function This parameter can be used to define how the inputs of the safety zone mod‐
ule are to be evaluated (1-channel (individually) or 2-channel (in pairs)).
Structure
Bit Designation/function Comment
Product-specific parameters
Function Parameter "P-0-3321" displays the selection of the safe outputs of the safety
zone module (HSZ01, connector X44).
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter displays the current states of the inputs at X41 (X41.1 and
X41.2 for double-axis devices; X104 for IndraDrive Mi (KMS02, KSM02)) of
the optional safety technology module.
See also Project Planning Manual "X41, Safe Motion safety technology"
984/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter shows the current state of the safe output on X41 (X4.1 and
X4.2 with the double axis device; X104 with IndraDrive Mi (KMS02, KSM02))
of the optional safety technology module.
Structure
Bit Designation/function Comment
Function This parameter can be used to specify functional inputs to "Safe Motion" for
processing the IO mapper. Typically, the inputs originate from the digital
(standard) inputs or the (standard) master communication.
P-0-3329 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: BIN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
Product-specific parameters
Function This parameter is used to configure the type of the linking module as "type
number". For example, a value of "1" is entered for the "safe connector" type
(P-0-3331.0.0). One instance of this parameter is present for each IO mapper
network (0... 15).
Structure
P-0-3330.0.1
Module type Comment
0 Inactive
1 Safe connector
2 Safe inversion
3 Safe constant selection
4 Binary-to-bit decoder
5 Safe OR
6 Safe AND with protection against restart
7 SDL with door request
8 Safe AND as of
SMO-14V04
9 Functional connector as of
SMO-14V04
10 Safe AND with ES bypass and protection against restart as of
SMO-14V04
Function These parameters are used to configure the input signals of the IO mapper
block. One instance of this parameter is present for each IO mapper network
(0... 15).
Example: Parameter "P-0-3320" is entered as IDN source and "0" is entered
for the bit source to configure input "E0" of the safety zone module.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
P-0-3330.x.2 - Attributes Function: Par Editable: SCM Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function These parameters are used to configure the input signals of the IO mapper
block. One instance of this parameter is present for each IO mapper network
(0... 15).
Example: Parameter "P-0-3320" is entered as IDN source and "0" is entered
for the bit source to configure input "E0" of the safety zone module.
P-0-3330.x.3 - Attributes Function: Par Editable: SCM Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function These parameters are used to configure the input signal of the IO mapper
block. One instance of this parameter is present for each IO mapper network
(0... 15).
Example:
Parameter "P-0-3261" is entered as IDN target and "0" is entered for the bit
target to configure the "operating mode selection signal (MS)".
Function These parameters are used to configure the input signal of the IO mapper
block. One instance of this parameter is present for each IO mapper network
(0... 15).
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 987/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Example:
Parameter "P-0-3261" is entered as IDN target and "0" is entered for the bit
target to configure the "operating mode selection signal (MS)".
Function In this parameter, the information about a component required for the engi‐
neering tool is provided in compact form for each instance.
P-0-3331.x.130 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to parameterize the minimum pulse duration (mini‐
mum waiting time between 0-1 edge and 1-0 edge) for the reset and start in‐
988/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
put of the IO mapper block type 6: "Safe AND with protection against restart"
and type 10: "Safe AND with ES bypass and protection against restart". If the
pulse duration falls below the minimum value, error message F3010, SMO:
IO mapper inputs error is generated.
P-0-3332.0.1 - Attributes Function: Par Editable: SCM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: ms Extr. val. ch.: + Decim. pl.: 1
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function The parameter provides status signals of the IO mapper blocks type 7: "SDL
with door request" and type 10: "Safe AND with ES bypass and protection
against restart
Structure
Bit Designation/function Comment
Product-specific parameters
P-0-3335.0.1 - Attributes Function: Par Editable: SCM Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
4.17.193 P-0-3335.0.2, SMO: Signal control for discrete outputs, bit number
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S3, S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Alias: P-0-2516
Function
The description of this parameter is in preparation.
P-0-3335.0.2 - Attributes Function: Par Editable: SCM Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
4.17.194 P-0-3335.0.3, SMO: Signal ctrl for discrete outputs, possible source
IDNs
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S3, S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Alias: P-0-2517
Function This parameter serves to store the potential signals that can be configured as
signal source for the local output. No other IDNs than the IDNs contained in
this parameter along with their associated bit numbers in "P-0-3335.0.4" can
be configured in "P-0-3335.0.1, SMO: Signal control for discrete outputs, IDN
assignment" or "P-0-3335.0.2, SMO: Signal control for discrete outputs, bit
number".
P-0-3335.0.3 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
4.17.195 P-0-3335.0.4, SMO: Signal ctrl for discrete outputs, possible source
bits
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S3, S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Alias: P-0-2518
Function This parameter serves to store the bit numbers of the potential signal sources
that can be configured for the local output. Only the bit numbers in this pa‐
rameter combined with their corresponding IDN in "P-0-3335.0.3" can be con‐
figured in "P-0-3335.0.1, SMO: Signal control for discrete outputs, IDN" or
"P-0-3335.0.2, SMO: Signal control for discrete outputs, bit number".
P-0-3335.0.4 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
4.17.196 P-0-3336.0.1, SMO: Signal control, status, safe bus, IDN assignment
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S3, S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Alias: P-0-2519
Function This parameter is used to configure the signals (IDNs) for the status word
provided for transmission via the safe bus.
The current expansion stage only allows preferential configurations via safe
bus communication. The content of this parameter is automatically set ac‐
cordingly.
See also Parameter Description "P-0-3341, SMO: Status word Safety-Bus"
P-0-3336.0.1 - Attributes Function: Par Editable: SCM Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
4.17.197 P-0-3336.0.2, SMO: Signal control, status, safe bus, bit number
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S3, S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Alias: P-0-2520
Function This parameter is used to configure the signals (bit numbers) for the status
word provided for transmission via the safe bus.
The current expansion stage only allows preferential configurations via safe
bus communication. The content of this parameter is automatically set ac‐
cordingly.
See also Parameter Description "P-0-3341, SMO: Status word Safety-Bus"
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 991/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
P-0-3336.0.2 - Attributes Function: Par Editable: SCM Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
4.17.198 P-0-3336.0.3, SMO: Signal control, status, safe bus, possible source
IDNs
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S3, S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Alias: P-0-2521
Function This parameter serves to store the potential signals (IDNs) that can be con‐
figured as signal sources for the status word Safety bus.
P-0-3336.0.3 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
4.17.199 P-0-3336.0.4, SMO: Signal control, status, safe bus, possible source
bits
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S3, S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Alias: P-0-2522
Function This parameter serves to store the potential signals (bit numbers) that can be
configured as signal sources for the status word Safety bus.
P-0-3336.0.4 - Attributes Function: Par Editable: -- Data length: 2Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
4.17.200 P-0-3336.0.5, SMO: Signal control, status, safe bus, SMMx coding
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware S3, S4, S5, SB, SD
Funct. package(s): --
Device parameter: axis-specific
Alias: P-0-2529
Function The "Special mode safe motion x (SMM x)" source signals from "P-0-3231,
SMO: Operating status" are bit-encoded. Depending on the type of preferen‐
tial configuration of the status word Safety bus, the status for special mode
safe motion is contained there either with bit or binary coding.
The coding function is parameterized in this parameter. If a value unequal to
0 is entered here, the coding in the "signal control for status word Safety bus"
function is bit-to-binary. The number of source signals is then parameterized
in this parameter.
992/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Tab. 4-283: SMO: Signal control, status, safe bus, SMMx coding
P-0-3336.0.5 - Attributes Function: Par Editable: SCM Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
Function This parameter is used to transmit control information of a safety control via
safe bus communication as a part of the consumer connection. The evalua‐
tion of the individual bits of the "control word Safety bus" depends on the con‐
figuration of the IO mapper inputs (P-0-3330.x.y).
Function This parameter can be used to deactivate the preferential configuration of in‐
dividual bits of "P-0-3340.0.0, SMO: Control word Safety-Bus". Bits thus de‐
activated can be used via the I/O configurator as desired.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 993/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameter is used to map the state of the consumer connection.
Structure The following definitions apply:
0 Not initialized The connection has not been initialized or closed yet.
1 Initializes The connection is being initialized. But the connection has
not been started yet.
2 Active The connection has been fully initialized and has been
started.
3 Error An error has occurred in the active connection.
Product-specific parameters
Function This parameter is used to set the expected configuration of the consumer
connection in the form of the type number.
Type number
Type Name
Decimal Hexadecimal
Function This parameter is used to map the IDNs in the consumer connection which
are transmitted to the drive.
P-0-3342.0.2 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter is used to map the state of the producer connection.
Structure The following definitions apply:
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 995/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
0 Not initialized The connection has not been initialized or closed yet.
1 Initializes The connection is being initialized. But the connection has
not been started yet.
2 Active The connection has been fully initialized and has been
started.
3 Error An error has occurred in the active connection.
Function This parameter is used to configure the expected configuration of the produc‐
er connection in the form of the type number.
Type number
Type Name
Decimal Hexadecimal
Function This parameter is used to map the IDNs in the producer connection which are
transmitted to the drive.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The 2-byte value is the FSoE slave address applied from "P-0-3351.0.0" after
the validity check.
P-0-3350 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The two-byte value can be written with the desired FSoE slave address which
is then applied to "P-0-3350.0.0".
P-0-3351 - Attributes Function: Par Editable: SCM Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Verify: +
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 997/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The two-byte long parameter shows the state of the FSoE stack. The follow‐
ing states are coded by the indicated numbers:
FSOE_k_FSOE_STATE_RESET = 0x0001, /* reset state */
FSOE_k_FSOE_STATE_SESSION = 0x0002, /* session state */
FSOE_k_FSOE_STATE_CONNECTION = 0x0004, /* connection state */
FSOE_k_FSOE_STATE_PARAMETER = 0x0008, /* parameter state */
FSOE_k_FSOE_STATE_DATA = 0x0010 /* data state */
P-0-3352 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter contains the proposed "FSoE slave addres" for the automated
serial commissioning.
P-0-3353 - Attributes Function: Par Editable: SCM Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The only communication parameter that is currently transmitted here is the
time in ms until a watchdog is triggered. The parameter is a 2-byte value.
P-0-3355 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The array of a total of four byte contains the two-byte long Consumer Number
and additionally the two-byte long Producer Number.
998/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The parameter displays the active PROFIsafe F-Device address. For safe ad‐
dress assignment (P-0-3235.0.3), the value of the parameter is applied from
the parameter "P-0-3360.0.2", that was input before, and saved in the identifi‐
cation data image on the programming module.
Function The F-Device address to be assigned is input in this parameter. For safe ad‐
dress assignment (P-0-3235.0.3), the value of this parameter is applied to the
parameter "P-0-3360.0.1".
Function The parameter displays the current state of the PROFIsafe F-Device state
machine for diagnostic purposes.
The following applies:
● 0x0001: PSD_RESET
● 0x0032: PSD_INIT
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 999/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
● 0x0054: PSD_PARAM
● 0x0067: PSD_DATAEX
● 0x0000: PSD_HARD_FAIL
P-0-3360.0.3 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function For diagnostic purposes displays the safe communication parameters trans‐
mitted from the F-Host (safety control) to the F-Device during PROFINET
system run-up. The data are transmitted from the F-Host to the F-Device in
the Motorola format.
Product-specific parameters
C1 Not configured
C2 780/784
C4 781/785
C6 787/788
C8 787/790
CA 786/789
CC 786/784
Function The parameter contains the proposed "PROFISafe F-Device address" for the
automated serial commissioning.
P-0-3360.0.6 - Attributes Function: Par Editable: SCM Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Product-specific parameters
Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 1001h - "Error register"
Structure Any error present is signaled as "Generic error" in bit 0.
Bit Designation/function
"Generic error"
0 0: No error present
1: Error present
7...1 Reserved
Function This parameters implements the object 1005h "COB ID SYNC message" for
the profile "CiA301".
The object defines the COB ID of the synchronization object (SYNC). It also
defines whether the device generates the Sync telegram.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 1003/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Frame
29
0b: 11-bit CAN ID
Example:
Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 1006h - "Communication cycle period" in µs
Use CAN application protocol over EtherCAT (CoE): In the FreeRun mode, the
communication cycle time is configured by the object. In the DC Mode (Dis‐
tributed Clock) the object is not effective, since the communication cycle time
is taken from the register of the FPGA.
CANopen/CAN (CoC) and Ethernet POWERLINK (EPL):
The communication cycle time is configured by the object. The object can be
written for controlling, if the slave is in the state PreOperational (CoC) or Pre‐
Operational1 (EPL).
P-0-3603.0.1 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: us Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 1008h - "Manufacturer device name"
Contains the "Manufacturer device name" as text (string).
P-0-3604.0.1 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 1009h - "Manufacturer hardware version"
Contains the "Manufacturer hardware version" as text (string).
P-0-3604.0.2 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 100Ah - "Manufacturer software version"
Contains the "Manufacturer software version" as text (string).
P-0-3604.0.3 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters implements the object 100Ch "Guard time" for the profile
"CiA301".
The object contains the "Guard time" in milliseconds.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 1005/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Use the "Guard time" and the "Life time factor" to calculate the "life time" for
the node guarding protocol to monitor the node as follows:
If the device is not queried by the master using the guarding telegram within
the "life time", a monitoring error is generated.
If the "life time" is "0", "node guarding" is disabled.
Function This parameters implements the object 100Dh "Life time factor" for the profile
"CiA301".
See "Guard time" (100Ch/ P-0-3605.0.1)
P-0-3605.0.2 - Attributes Function: Par Editable: PM Data length:
2Byte /
1Byte
Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters implements the object 1014h "COB ID EMCY" for the profile
"CiA301".
The object contains the identifier for emergency messages (EMCY).
Structure
Index 1014h, subindex 0 for "COB ID EMCY"
Product-specific parameters
Function This parameters implements the object 1016h "Consumer heartbeat time",
subindex 0 "Highest sub-index supported" for the profile "CiA301".
The object has the constant value "1".
P-0-3605.0.4 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters implements the object 1016h "Consumer heartbeat time",
subindex 1 "Consumer heartbeat time" for the profile "CiA301"
As "heartbeat consumer", the slave monitors the "heartbeat" of the master.
The object indexes the maximum cycle time expected by the "master heart‐
beat" in milliseconds. If the slave did not receive any "heartbeat" from the
master within this period, a monitoring error is generated.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 1007/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function This parameters implements the object 1017h "Producer heartbeat time" for
the profile "CiA301".
The object indexes the cycle time in milliseconds within which the slave
sends its "heartbeat".
Disable the "Heartbeat producer" with P-0-3605.0.6="0".
Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 1018h - "Identity Object"
Subindex 0 - "Highest subindex supported"
1008/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 1018h - "Identity Object"
Subindex 1 - "Vendor ID"
See also parameter description "P-0-3606.0.1"
P-0-3606.0.2 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 1018h - "Identity Object"
Subindex 2 - "Product Code"
See also parameter description "P-0-3606.0.1"
P-0-3606.0.3 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 1018h - "Identity Object"
Subindex 3 - "Revision Number"
See also parameter description "P-0-3606.0.1"
P-0-3606.0.4 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 1018h - "Identity Object"
Subindex 4 - "Serial Number"
See also parameter description "P-0-3606.0.1"
P-0-3606.0.5 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters implements the object 1200h "SDO server parameter", sub‐
index 0 "Highest sub-index supported" for the profile "CiA301".
The object has the constant value "2".
P-0-3607.0.1 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameters implements the object 1200h "SDO server parameter", sub‐
index 1 "COB ID client -> server (rx)" for the profile "CiA301".
The object describes the Service Data Object (SDO) from the master to the
slave. The value cannot be changed and is set as follows by default:
1010/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
dyn
30 0b: The value is specified stati‐
cally
valid
31
0b: SDO exists/is valid
Function This parameters implements the object 1200h "SDO server parameter", sub‐
index 2 "COB ID server -> client (tx)" for the profile "CiA301".
The object describes the Service Data Object (SDO) from the slave to the
master. The value cannot be changed and is set as follows by default:
Index 1200h, subindex 2
dyn
30 0b: The value is specified stati‐
cally
valid
31
0b: SDO exists/is valid
Product-specific parameters
Structure
P‑0‑3608.0.2: Index 1400h , subindex 1 for "COB ID used by RPDO"1
30 Reserved
valid
31
0b: RPDO exists/is valid
1012/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
30 Reserved
valid
31
0b: RPDO exists/is valid
30 Reserved
valid
31
0b: RPDO exists/is valid
30 Reserved
valid
31
0b: RPDO exists/is valid
Product-specific parameters
Product-specific parameters
Structure
Bit Name/function
Product-specific parameters
Structure
Bit Name/function
Structure
Bit Name/function
Product-specific parameters
Structure
Bit Name/function
Product-specific parameters
Product-specific parameters
Function This list contains parameters which are monitored for changes during cyclic
configuration. If such a parameter is configured in a PDO which is transmitted
cyclically and the parameter changes, the PDO is transmitted.
See also Functional Description "CANopen Interface"
Use The following aspects have to be observed for use:
● A typical application is the transmission of probe values.
● This list cannot be edited by the user.
P-0-3613 - Attributes Function: Par Editable: -- Data length: 4Byte var.
Memory: -- Validity ch.: -- Format: IDN
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Structure
P‑0‑3614.0.2: Index 1800h , subindex 1 for "COB ID used by TPDO"1
30 Reserved
valid
31
0b: RPDO exists/is valid
1020/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
30 Reserved
valid
31
0b: RPDO exists/is valid
30 Reserved
valid
31
0b: RPDO exists/is valid
30 Reserved
valid
31
0b: RPDO exists/is valid
Product-specific parameters
Product-specific parameters
Product-specific parameters
Use Example:
Product-specific parameters
Structure
Bit Name/function
Product-specific parameters
The object of the data type UNSIGNED32 contains information from the map‐
ping object in the PDO.
Structure
Bit Name/function
Structure
Bit Name/function
Product-specific parameters
Product-specific parameters
Product-specific parameters
Value Description
0 Mapping deactivated
1 Subindex 1 valid
2 Subindices 1 to 2 valid
3 Subindices 1 to 3 valid
...... ......
16 Subindices 1 to 16 valid
Product-specific parameters
Value Description
0 Mapping deactivated
1 Subindex 1 valid
2 Subindices 1 to 2 valid
3 Subindices 1 to 3 valid
...... ......
16 Subindices 1 to 16 valid
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Product-specific parameters
Function This parameter contains the number of parameters, which are used to config‐
ure the drive (CN) by the managed node (MN).
P-0-3626.0.1 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter contains the "configuration date", which is written by the Man‐
aged Node (MN) when the drive (CN) is being configured.
Contents: Number of days since January 1, 1984
P-0-3626.0.2 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains the "configuration time" which is written by the man‐
aged node (MN) when the drive (CN) is configured.
Content: Number of milliseconds (ms) since midnight.
P-0-3626.0.3 - Attributes Function: Par Editable: PM Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function The parameter contains the number of the physical Ethernet POWERLINK in‐
terface of the drive. It is computed from object number - 0x102F.
Example: 0x1030 - 0x102 F = 1
⇒ Number of the physical Ethernet POWERLINK interface in the drive = 1
P-0-3627.0.2 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter contains the vendor’s name, product name and hardware ver‐
sion of the drive.
P-0-3627.0.3 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter indicates the type of interface, distinguished by the physical/
link protocol/s directly below the network layer in the protocol stack.
Structure
Value Designation/function Comment
1 Others
6 ethernet-csmacd
7 iso88023-csmacd
Product-specific parameters
Function The parameter contains the maximum packet size of the telegrams (MTU,
Maximum Transmission Unit) that can be received or sent by the drive.
P-0-3627.0.5 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains the MAC address of the master communication in‐
terface.
P-0-3627.0.6 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function This parameter contains the name of the master communication interface for
reference purposes. It can be used for a device driver to access the interface,
for example.
P-0-3627.0.7 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter contains the operational state of the master communication
interface.
Structure
Value Designation/function Comment
0 Out of operation
1 In operation
Product-specific parameters
Function The parameter contains the administration status of the master communica‐
tion interface.
Structure
Value Designation/function Comment
Function The parameter contains information, whether or not the data of parameters
"P-0-3627.0.1" to "P-0-3627.0.9" (object 0x1030, NMT_InterfaceGroup) are
valid.
Structure
Value Designation/function Comment
Product-specific parameters
Function Mapping version of the process data received (RPDO). The drive checks the
mapping version in the received PDO and compares it to the version set
here. If the "main version" differs, the RPDO is ignored. If the "main version"
is identical, but the "sub-version" differs, the RPDO is accepted.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 1039/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Number of mapped objects in the RPDO. Before entries in object 0x1600 can
be changed, the MN has to set this value to 0. In order that the entries can
become effective again, the number of entries in this parameter must again
be set to <> 0.
Structure
Value Designation/function
0 RPDO deactivated
1... 254 Number of mapped objects in the RPDO.
Product-specific parameters
Function Node ID of the node that receives the TDO. Since the drive is a controlled
node (CN), the entry is not used according to the specification (always 0).
P-0-3632.0.2 - Attributes Function: Par Editable: ++ Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Number of mapped objects in the TPDO. Before the entries in object 0x1A00
can be changed, the MN must set this value to 0. In order that the entries can
become effective again, the number of entries in this parameter has to be set
to <> 0.
Structure
Value Designation/function
0 TPDO deactivated
1... 254 Number of mapped objects in the TPDO.
Product-specific parameters
Function SoC failure counter, which is increased by the value “1” whenever the con‐
trolled node (CN) detects a "loss of SoC".
P-0-3634.0.2 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function SoC threshold value counter. It is increased by the value “8” whenever the
controlled node (CN) detects a "loss of SoC". It is reduced by the value “1”, if
no "loss of SoC" was detected within a cycle.
P-0-3634.0.3 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function If the “Loss SoC: Threshold Cnt” exceeds the threshold value set here, the
drive changes to the "Pre-Operational 1" state and the threshold value coun‐
ter (0x1C0Bsub2) is reset to 0.
The threshold value counter is deactivated when the threshold value is set to
0 here. In this case, the drive does not execute an error reaction upon "Loss
of SoC".
P-0-3634.0.4 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 1043/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function SoC failure counter, which is increased by the value “1” whenever the con‐
trolled node (CN) detects a "CRC error".
P-0-3635.0.2 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The parameter writes to the CRC threshold value counter. The CRC thresh‐
old value counter is increased by the value “8” whenever the controlled node
(CN) detects a "CRC error". It is reduced by the value “1”, if no "CRC error"
was detected within a cycle.
P-0-3635.0.3 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function If the CN exceeds the set threshold value of the parameter "CRC Error:
Threshold Cnt", the drive executes an error reaction and the threshold value
counter (0x1C0Fsub2) is reset to the value “0”.
The threshold value counter is deactivated when the threshold value is set to
the value “0”. In this case, the drive does not execute an error reaction upon
a "CRC error".
1044/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function The drive supports a tolerance interval in ns, which is applied when the pa‐
rameter "Loss of SoC" is recognized.
P-0-3636.0.1 - Attributes Function: Par Editable: ++ Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Interface index of the associated IP interface of the drive. The interface is the
same as in object 0x1030sub01 (see P-0-3627.0.2).
P-0-3637.0.2 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function IP address of the Ethernet POWERLINK interface of the drive. Since the
Ethernet POWERLINK network is always a class-C network, the drive always
has an IP address within the range of 192.168.100.x. The host ID of the IPv4
address (x) is identical to the node ID of the drive.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 1045/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Length of the largest IP telegram that the drive can assemble from the IP
fragments arriving via Ethernet POWERLINK master communication.
P-0-3637.0.5 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Capability of the drive to forward IP telegrams, which are received by the
drive, but are not intended for the drive.
Structure
Bit Designation/function
0 (FALSE) No forwarding
1 (TRUE) Forwarding
Function Default value for the time-to-live (TTL) field in the IP header of a telegram
generated by the drive, if this value is not supported by the transport layer.
P-0-3638.0.3 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Number of received telegrams, the final IP destination of which is not this
drive.
However, an attempt was made to find a route for forwarding to the final des‐
tination.
P-0-3638.0.4 - Attributes Function: Par Editable: -- Data length: 4Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Properties, which the drive has with regard to the Ethernet POWERLINK
communication profile.
Structure
Octet Bit Designation/function Property
0 0 Isochronous 0 (FALSE): Drive does not support isochronous access via PReq.
1 (TRUE): Isochronous access to the drive possible via PReq.
1 SDO via UDP/IP 0 (FALSE): Drive does not support SDO communication via POWERLINK
Asnd Frames.
1 (TRUE): Drive supports SDO communication via POWERLINK Asnd
Frames.
2 SDO via Asnd 0 (FALSE): Drive does not support SDO communication via POWERLINK
Asnd Frames.
1 (TRUE): Drive supports SDO communication via POWERLINK Asnd
Frames.
3 SDO via PDO 0 (FALSE): Drive does not support SDO communication by means of contain‐
ers in the PDO channel.
1 (TRUE): Drive supports SDO communication by means of containers in the
PDO channel.
4 NMT info service 0 (FALSE): Drive does not support NMT info service
1 (TRUE): Drive supports NMT info service
5 Extended NMT state 0 (FALSE): Drive does not support extended NMT state commands.
commands 1 (TRUE): Drive does not support extended NMT state commands.
6 Dynamic PDO map‐ 0 (FALSE): Drive does not support dynamic PDO mapping.
ping 1 (TRUE): Drive supports dynamic PDO mapping.
7 NMT services via 0 (FALSE): Drive does not support NMT services via UDP/IP.
UDP/IP 1 (TRUE): Drive supports NMT services via UDP/IP.
1048/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Product-specific parameters
Function Current NMT status of the drive according to Ethernet POWERLINK specifi‐
cation.
P-0-3641.0.1 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
Function Ethernet POWERLINK node ID of the drive. The node ID of the drive can on‐
ly be set by means of software (e.g. IndraWorks).
P-0-3642.0.2 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function The Boolean flag signals whether or not the node ID of the Ethernet POWER‐
LINK drive can be set exclusively by means of hardware (HW) or software
(SW).
0 (FALSE) for drives, the node ID of which can be set exclusively by means
of SW.
1 (TRUE) for drives, the node ID of which can be set exclusively by means of
HW.
1050/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Maximum length of data in the isochronous telegram to be sent (in octets).
P-0-3643.0.2 - Attributes Function: Par Editable: -- Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Maximum length of data in the isochronous telegram to be received (in oc‐
tets).
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 1051/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters
Function Contains the length of the payload data in octets in the PReq to be expected
by the CN. The length of payload data plus header results in the length of the
PReq frames.
P-0-3643.0.5 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Contains the length of the payload data in octets in the PReq sent by the CN.
The length of payload data plus header results in the length of the PReq
frames. The payload data can be filled by the PDO up to this limit.
P-0-3643.0.6 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Product-specific parameters
Function Describes the length of the multiplexed cycle in multiples of the POWERLINK
cycle.
P-0-3643.0.8 - Attributes Function: Par Editable: ++ Data length:
2Byte /
1Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Maximum frame size for asynchronous data in octets. The value is valid for
Asnd frames as well as for UDP/IP and other Ethernet frames. The value
therefore describes the length of the complete Ethernet frame minus 14 oc‐
tets for Ethernet header and 4 octets of checksum.
P-0-3643.0.9 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Change rate of the SoC PS flag. The value represents the number of cycles
until the MN toggles the flag.
If this value is 0, there shall be no toggling of the PS flag.
If this value is 1, the PS flag is to be toggled in each cycle.
If this value is 2, the PS flag is to be toggled in every second cycle.
This toggling can take place with any optional further values.
P-0-3643.0.10 - Attributes Function: Par Editable: ++ Data length: 2Byte
Memory: -- Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
Function Delay time of the drive in us, before it automatically switches from state "not
active" to state "Basic Ethernet".
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 1053/1577
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Product-specific parameters