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Electric Drives

and Controls

Hydraulics

Linear Motion and


Assembly Technologies

Pneumatics

Service

Rexroth IndraDrive
Drive Controllers
MPx-02; MPx-03; MPx-04; MPx-05
Parameter Description

R911297317
Edition 04

Bosch Rexroth AG | Electric Drives


and Controls

Title

Rexroth IndraDrive | Parameter Description

Rexroth IndraDrive
Drive Controllers
MPx-02; MPx-03; MPx-04; MPx-05

Type of Documentation
Document Typecode
Internal File Reference
Purpose of Documentation

Record of Revision

Copyright

Parameter Description
DOK-INDRV*-GEN-**VRS**-PA04-EN-P
RS-3823ca590a6846ac01d574819022e247-1-en-US-5
This documentation contains the descriptions of all parameters implemented in
the firmware for drive controllers of the IndraDrive range. It supports the pa
rameterization of the drive controllers.
Edition

Release Date

Notes

DOK-INDRV*-GEN-**VRS**-PA01-EN-P

03.2004

First edition

DOK-INDRV*-GEN-**VRS**-PA02-EN-P

12.2004

Edition 02

DOK-INDRV*-GEN-**VRS**-PA03-EN-P

01.2006

Edition 03

DOK-INDRV*-GEN-**VRS**-PA04-EN-P

10.2007

Edition 04

2006 Bosch Rexroth AG


Copying this document, giving it to others and the use or communication of the
contents therof without express authourity, are forbidden. Offenders are liable
for the payment of damages. All rights are reserved in the event of the grant of
a patent or the registration of a utility model or design (DIN 34-1).

Validity

Published by

The specified data is for product description purposes only and may not be
deemed to be guaranteed unless expressly confirmed in the contract. All rights
are reserved with respect to the content of this documentation and the availa
bility of the product.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. Main
Telephone +49 (0)93 52/ 40-0 Fax +49 (0)93 52/ 40-48 85
http://www.boschrexroth.com/
Dept. BRC/EDY1 (HP, BB)

Note

This document has been printed on chlorine-free bleached paper.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

I/XXXV

Table of Contents

Table of Contents
Page

1
1.1
1.1.1
1.1.2
1.1.3
1.1.4
1.2
1.2.1
1.2.2
1.2.3
1.2.4
1.2.5
1.2.6
1.2.7
1.2.8

2
2.1
2.1.1
2.1.2

3
3.1
3.1.1
3.1.2
3.1.3
3.1.4
3.1.5
3.1.6
3.1.7
3.1.8
3.1.9
3.1.10
3.1.11
3.1.12
3.1.13
3.1.14
3.1.15
3.1.16
3.1.17
3.1.18
3.1.19
3.1.20

Safety Instructions for Electric Drives and Controls....................................................... 1


Safety Instructions - General Information............................................................................................... 1
Using the Safety Instructions and Passing them on to Others............................................................ 1
How to Employ the Safety Instructions................................................................................................ 1
Explanation of Warning Symbols and Degrees of Hazard Seriousness.............................................. 2
Hazards by Improper Use.................................................................................................................... 3
Instructions with Regard to Specific Dangers......................................................................................... 4
Protection Against Contact with Electrical Parts and Housings........................................................... 4
Protection Against Electric Shock by Protective Extra-Low Voltage................................................... 5
Protection Against Dangerous Movements......................................................................................... 5
Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting................ 8
Protection Against Contact with Hot Parts........................................................................................... 8
Protection During Handling and Mounting........................................................................................... 8
Battery Safety...................................................................................................................................... 9
Protection Against Pressurized Systems............................................................................................. 9

General Information..................................................................................................... 11
Document Structure.............................................................................................................................. 11
General.............................................................................................................................................. 11
Definitions.......................................................................................................................................... 11

Standard Parameters................................................................................................... 15
S-0-0000 - S-0-0100 Standard Parameters ......................................................................................... 15
S-0-0000, Dummy parameter............................................................................................................ 15
S-0-0001, NC cycle time (TNcyc)...................................................................................................... 15
S-0-0002, SERCOS cycle time (TScyc)............................................................................................ 16
S-0-0003, Minimum AT transmit starting time (T1min)...................................................................... 16
S-0-0004, Transmit/receive transition time (TATMT)........................................................................ 17
S-0-0005, Minimum feedback acquisition time (T4min).................................................................... 17
S-0-0006, AT Transmission starting time (T1)................................................................................... 18
S-0-0007, Feedback acquisition starting time (T4)............................................................................ 18
S-0-0008, Command value valid time (T3)........................................................................................ 19
S-0-0009, Position of data record in MDT......................................................................................... 19
S-0-0010, Length of master data telegram........................................................................................ 20
S-0-0011, Class 1 diagnostics........................................................................................................... 20
S-0-0012, Class 2 diagnostics........................................................................................................... 22
S-0-0013, Class 3 diagnostics........................................................................................................... 23
S-0-0014, Interface status................................................................................................................. 24
S-0-0015, Telegram type parameter................................................................................................. 25
S-0-0016, Configuration list of AT..................................................................................................... 27
S-0-0017, IDN-list of all operation data............................................................................................. 27
S-0-0018, IDN list of operating data for communication phase 2...................................................... 27
S-0-0019, IDN list of operating data for communication phase 3...................................................... 28

II/XXXV

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
3.1.21
3.1.22
3.1.23
3.1.24
3.1.25
3.1.26
3.1.27
3.1.28
3.1.29
3.1.30
3.1.31
3.1.32
3.1.33
3.1.34
3.1.35
3.1.36
3.1.37
3.1.38
3.1.39
3.1.40
3.1.41
3.1.42
3.1.43
3.1.44
3.1.45
3.1.46
3.1.47
3.1.48
3.1.49
3.1.50
3.1.51
3.1.52
3.1.53
3.1.54
3.1.55
3.1.56
3.1.57
3.1.58
3.1.59
3.1.60
3.1.61
3.1.62
3.1.63
3.1.64
3.1.65
3.1.66

S-0-0021, IDN list of invalid operating data for communication phase 2........................................... 28
S-0-0022, IDN list of invalid operating data for communication phase 3........................................... 29
S-0-0024, Config. list of the master data telegram............................................................................ 29
S-0-0025, IDN-list of all procedure commands.................................................................................. 30
S-0-0026, Configuration list signal status word................................................................................. 30
S-0-0027, Configuration list signal control word................................................................................ 31
S-0-0028, MST error counter............................................................................................................. 31
S-0-0029, MDT error counter............................................................................................................ 32
S-0-0030, Manufacturer version........................................................................................................ 32
S-0-0032, Primary mode of operation............................................................................................... 33
S-0-0033, Secondary operation mode 1............................................................................................ 34
S-0-0034, Secondary operation mode 2............................................................................................ 35
S-0-0035, Secondary operation mode 3............................................................................................ 35
S-0-0036, Velocity command value................................................................................................... 36
S-0-0037, Additive velocity command value...................................................................................... 37
S-0-0038, Positive velocity limit value............................................................................................... 37
S-0-0039, Negative velocity limit value.............................................................................................. 38
S-0-0040, Velocity feedback value.................................................................................................... 38
S-0-0041, Homing velocity................................................................................................................ 39
S-0-0042, Homing acceleration......................................................................................................... 39
S-0-0043, Velocity polarity parameter............................................................................................... 40
S-0-0044, Velocity data scaling type................................................................................................. 41
S-0-0045, Velocity data scaling factor............................................................................................... 42
S-0-0046, Velocity data scaling exponent......................................................................................... 42
S-0-0047, Position command value................................................................................................... 43
S-0-0048, Additive position command value..................................................................................... 44
S-0-0049, Positive position limit value............................................................................................... 44
S-0-0050, Negative position limit value............................................................................................. 45
S-0-0051, Position feedback 1 value................................................................................................. 46
S-0-0052, Reference distance 1........................................................................................................ 47
S-0-0053, Position feedback 2 value................................................................................................. 48
S-0-0054, Reference distance 2........................................................................................................ 49
S-0-0055, Position polarities.............................................................................................................. 50
S-0-0057, Position window................................................................................................................ 51
S-0-0058, Reversal clearance........................................................................................................... 52
S-0-0059, Position switch flag parameter.......................................................................................... 53
S-0-0060, Position switch point 1 "On".............................................................................................. 54
S-0-0076, Position data scaling type................................................................................................. 54
S-0-0077, Linear position data scaling factor.................................................................................... 56
S-0-0078, Linear position data scaling exponent.............................................................................. 56
S-0-0079, Rotational position resolution............................................................................................ 57
S-0-0080, Torque/force command value........................................................................................... 58
S-0-0081, Additive torque/force command value.............................................................................. 58
S-0-0082, Torque/force limit value positive....................................................................................... 59
S-0-0083, Torque/force limit value negative...................................................................................... 60
S-0-0084, Torque/force feedback value............................................................................................ 61

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

III/XXXV

Table of Contents
Page
3.1.67
3.1.68
3.1.69
3.1.70
3.1.71
3.1.72
3.1.73
3.1.74
3.1.75
3.1.76
3.1.77
3.1.78
3.1.79
3.1.80
3.1.81
3.1.82
3.2
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.2.6
3.2.7
3.2.8
3.2.9
3.2.10
3.2.11
3.2.12
3.2.13
3.2.14
3.2.15
3.2.16
3.2.17
3.2.18
3.2.19
3.2.20
3.2.21
3.2.22
3.2.23
3.2.24
3.2.25
3.2.26
3.2.27
3.2.28
3.2.29

S-0-0085, Torque/force polarity parameter....................................................................................... 62


S-0-0086, Torque/force data scaling type......................................................................................... 63
S-0-0087, Transmit to transmit recovery time (TATAT)..................................................................... 64
S-0-0088, Receive to receive recovery time (TMTSY)...................................................................... 65
S-0-0089, MDT Transmit starting time (T2)....................................................................................... 65
S-0-0090, Command value proceeding time (TMTSG)..................................................................... 65
S-0-0091, Bipolar velocity limit value................................................................................................. 66
S-0-0092, Bipolar torque/force limit value......................................................................................... 66
S-0-0093, Torque/force data scaling factor....................................................................................... 67
S-0-0094, Torque/force data scaling exponent................................................................................. 68
S-0-0095, Diagnostic message......................................................................................................... 68
S-0-0096, Slave arrangement (SLKN)............................................................................................... 69
S-0-0097, Mask class 2 diagnostics.................................................................................................. 69
S-0-0098, Mask class 3 diagnostics.................................................................................................. 70
S-0-0099, C0500 Reset class 1 diagnostics...................................................................................... 71
S-0-0100, Velocity loop proportional gain.......................................................................................... 71
S-0-0101 - S-0-0200 Standard Parameters.......................................................................................... 73
S-0-0101, Velocity loop integral action time...................................................................................... 73
S-0-0103, Modulo value.................................................................................................................... 74
S-0-0104, Position loop Kv-factor...................................................................................................... 75
S-0-0106, Current loop proportional gain 1....................................................................................... 76
S-0-0107, Current loop integral action time 1.................................................................................... 78
S-0-0108, Feedrate override............................................................................................................. 79
S-0-0109, Motor peak current............................................................................................................ 80
S-0-0110, Amplifier peak current....................................................................................................... 80
S-0-0111, Motor current at standstill................................................................................................. 81
S-0-0112, Amplifier nominal current.................................................................................................. 81
S-0-0113, Maximum motor speed..................................................................................................... 82
S-0-0115, Position feedback 2 type................................................................................................... 83
S-0-0116, Feedback 1 Resolution..................................................................................................... 84
S-0-0117, Feedback 2 Resolution..................................................................................................... 85
S-0-0121, Input revolutions of load gear........................................................................................... 86
S-0-0122, Output revolutions of load gear......................................................................................... 86
S-0-0123, Feed constant................................................................................................................... 87
S-0-0124, Standstill window.............................................................................................................. 88
S-0-0125, Velocity threshold nx......................................................................................................... 88
S-0-0126, Torque threshold Tx.......................................................................................................... 89
S-0-0127, C0100 Communication phase 3 transition check............................................................. 89
S-0-0128, C5200 Communication phase 4 transition check............................................................. 90
S-0-0130, Probe value 1 positive edge............................................................................................. 91
S-0-0131, Probe value 1 negative edge............................................................................................ 91
S-0-0132, Probe value 2 positive edge............................................................................................. 92
S-0-0133, Probe value 2 negative edge............................................................................................ 92
S-0-0134, Master control word.......................................................................................................... 93
S-0-0135, Drive status word.............................................................................................................. 94
S-0-0138, Bipolar acceleration limit value......................................................................................... 95

IV/XXXV Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
3.2.30
3.2.31
3.2.32
3.2.33
3.2.34
3.2.35
3.2.36
3.2.37
3.2.38
3.2.39
3.2.40
3.2.41
3.2.42
3.2.43
3.2.44
3.2.45
3.2.46
3.2.47
3.2.48
3.2.49
3.2.50
3.2.51
3.2.52
3.2.53
3.2.54
3.2.55
3.2.56
3.2.57
3.2.58
3.2.59
3.2.60
3.2.61
3.2.62
3.2.63
3.2.64
3.2.65
3.2.66
3.2.67
3.2.68
3.2.69
3.2.70
3.2.71
3.2.72
3.2.73
3.2.74
3.2.75

S-0-0139, C1600 Parking axis command.......................................................................................... 96


S-0-0140, Controller type.................................................................................................................. 97
S-0-0141, Motor type......................................................................................................................... 97
S-0-0142, Application type................................................................................................................ 98
S-0-0143, Sercos interface version................................................................................................... 99
S-0-0144, Signal status word............................................................................................................ 99
S-0-0145, Signal control word......................................................................................................... 100
S-0-0146, C4300 NC-controlled homing procedure command....................................................... 100
S-0-0147, Homing parameter.......................................................................................................... 101
S-0-0148, C0600 Drive-controlled homing procedure command.................................................... 103
S-0-0149, C1300 Positive stop drive procedure command............................................................. 104
S-0-0150, Reference offset 1.......................................................................................................... 105
S-0-0151, Reference offset 2.......................................................................................................... 106
S-0-0152, C0900 Position spindle command.................................................................................. 106
S-0-0153, Spindle angle position..................................................................................................... 107
S-0-0154, Spindle position parameter............................................................................................. 108
S-0-0155, Friction compensation..................................................................................................... 109
S-0-0156, Velocity feedback value 2............................................................................................... 109
S-0-0157, Velocity window.............................................................................................................. 110
S-0-0158, Power threshold Px......................................................................................................... 110
S-0-0159, Monitoring window.......................................................................................................... 111
S-0-0160, Acceleration data scaling type........................................................................................ 111
S-0-0161, Acceleration data scaling factor...................................................................................... 113
S-0-0162, Acceleration data scaling exponent................................................................................ 113
S-0-0163, Weight counterbalance................................................................................................... 114
S-0-0164, Acceleration feedback value 1........................................................................................ 114
S-0-0165, Distance-coded reference offset A................................................................................. 114
S-0-0166, Distance-coded reference offset B................................................................................. 115
S-0-0169, Probe control parameter................................................................................................. 115
S-0-0170, Probing cycle procedure command................................................................................ 117
S-0-0171, C4400 Calculate displacement procedure command..................................................... 117
S-0-0172, C4500 Displacement to referenced system procedure command.................................. 118
S-0-0173, Marker position A............................................................................................................ 119
S-0-0174, Marker position B............................................................................................................ 120
S-0-0175, Offset parameter 1.......................................................................................................... 121
S-0-0176, Offset parameter 2.......................................................................................................... 121
S-0-0177, Absolute offset 1............................................................................................................. 121
S-0-0178, Absolute offset 2............................................................................................................. 122
S-0-0179, Probe status.................................................................................................................... 123
S-0-0180, Spindle relative offset..................................................................................................... 124
S-0-0183, Velocity synchronization window.................................................................................... 125
S-0-0185, Length of the configurable data record in the AT............................................................ 125
S-0-0186, Length of the configurable data record in the MDT........................................................ 126
S-0-0187, List of configurable data in the AT.................................................................................. 126
S-0-0188, List of configurable data in the MDT............................................................................... 127
S-0-0189, Following distance.......................................................................................................... 127

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

V/XXXV

Table of Contents
Page
3.2.76
3.2.77
3.2.78
3.2.79
3.2.80
3.2.81
3.2.82
3.2.83
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.3.7
3.3.8
3.3.9
3.3.10
3.3.11
3.3.12
3.3.13
3.3.14
3.3.15
3.3.16
3.3.17
3.3.18
3.3.19
3.3.20
3.3.21
3.3.22
3.3.23
3.3.24
3.3.25
3.3.26
3.3.27
3.3.28
3.3.29
3.3.30
3.3.31
3.3.32
3.3.33
3.3.34
3.3.35
3.3.36
3.3.37

S-0-0190, C4200 Drive-controlled oscillation command................................................................. 128


S-0-0191, C1500 Cancel reference point procedure command...................................................... 128
S-0-0192, IDN-list of backup operation data................................................................................... 129
S-0-0193, Positioning Jerk.............................................................................................................. 130
S-0-0195, Acceleration feedback value 2........................................................................................ 130
S-0-0197, C3300 Set coordinate system procedure command....................................................... 131
S-0-0198, Initial coordinate value.................................................................................................... 131
S-0-0199, C3400 Shift coordinate system procedure command..................................................... 131
S-0-0201 - S-0-0400 Standard Parameters........................................................................................ 132
S-0-0201, Motor warning temperature............................................................................................. 132
S-0-0204, Motor shutdown temperature.......................................................................................... 132
S-0-0206, Drive on delay time......................................................................................................... 133
S-0-0207, Drive off delay time......................................................................................................... 134
S-0-0208, Temperature data scaling type....................................................................................... 134
S-0-0213, Oscillation speed............................................................................................................ 135
S-0-0214, Oscillation offset speed................................................................................................... 135
S-0-0215, Oscillation cycle time...................................................................................................... 135
S-0-0216, C4100 Switch parameter set command.......................................................................... 136
S-0-0217, Preselect parameter set command................................................................................. 136
S-0-0219, IDN-list of parameter set................................................................................................. 137
S-0-0222, Spindle positioning speed............................................................................................... 137
S-0-0228, Position synchronization window.................................................................................... 138
S-0-0254, Current parameter set..................................................................................................... 139
S-0-0256, Multiplication 1 (motor encoder)..................................................................................... 139
S-0-0257, Multiplication 2 (optional encoder).................................................................................. 139
S-0-0258, Target position................................................................................................................ 140
S-0-0259, Positioning velocity......................................................................................................... 140
S-0-0260, Positioning acceleration.................................................................................................. 141
S-0-0261, Coarse position window.................................................................................................. 142
S-0-0262, C07_x Load defaults procedure command..................................................................... 142
S-0-0263, C2300 Load working memory procedure command....................................................... 143
S-0-0264, C2200 Backup working memory procedure command................................................... 144
S-0-0265, Language selection......................................................................................................... 144
S-0-0267, Password........................................................................................................................ 145
S-0-0269, Storage mode................................................................................................................. 146
S-0-0270, Selected IDN list of operation data to backup................................................................. 146
S-0-0273, Maximum drive off delay time......................................................................................... 147
S-0-0275, Coordinate offset value................................................................................................... 148
S-0-0277, Position feedback 1 type................................................................................................. 148
S-0-0278, Maximum travel range.................................................................................................... 150
S-0-0279, IDN-list of password-protected operation data............................................................... 150
S-0-0282, Positioning command value............................................................................................ 151
S-0-0283, Current coordinate offset................................................................................................ 152
S-0-0284, Secondary operation mode 4.......................................................................................... 152
S-0-0285, Secondary operation mode 5.......................................................................................... 153
S-0-0286, Secondary operation mode 6.......................................................................................... 153

VI/XXXV Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
3.3.38
3.3.39
3.3.40
3.3.41
3.3.42
3.3.43
3.3.44
3.3.45
3.3.46
3.3.47
3.3.48
3.3.49
3.3.50
3.3.51
3.3.52
3.3.53
3.3.54
3.3.55
3.3.56
3.3.57
3.3.58
3.3.59
3.3.60
3.3.61
3.3.62
3.3.63
3.3.64
3.3.65
3.3.66
3.3.67
3.3.68
3.3.69
3.3.70
3.3.71
3.3.72
3.3.73
3.3.74
3.3.75
3.3.76
3.3.77
3.3.78
3.3.79
3.3.80
3.3.81
3.3.82
3.3.83

S-0-0287, Secondary operation mode 7.......................................................................................... 154


S-0-0292, List of all operating modes.............................................................................................. 155
S-0-0293, C2400 Selectively backup working memory procedure command................................. 157
S-0-0298, Reference cam shift........................................................................................................ 158
S-0-0299, Home switch offset......................................................................................................... 159
S-0-0301, Allocation of real-time control bit 1.................................................................................. 159
S-0-0303, Allocation of real-time control bit 2.................................................................................. 160
S-0-0305, Allocation of real-time status bit 1................................................................................... 161
S-0-0307, Allocation of real-time status bit 2................................................................................... 161
S-0-0315, Positioning velocity > nLimit............................................................................................ 162
S-0-0323, Target position outside of travel range........................................................................... 163
S-0-0326, Parameter checksum...................................................................................................... 163
S-0-0327, IDN list of checksum parameter...................................................................................... 164
S-0-0328, Assign list signal status word.......................................................................................... 164
S-0-0329, Assign list signal control word......................................................................................... 165
S-0-0330, Message 'n_actual = n_command'.................................................................................. 165
S-0-0331, Status 'n_feedback = 0'................................................................................................... 166
S-0-0332, Message 'nactual < nx'................................................................................................... 166
S-0-0333, Message 'T >= Tx'.......................................................................................................... 167
S-0-0334, Message 'T >= Tlimit'...................................................................................................... 167
S-0-0335, Message 'n command > n limit'....................................................................................... 168
S-0-0336, Message In position........................................................................................................ 168
S-0-0337, Message 'P >= Px'.......................................................................................................... 169
S-0-0338, Message In target position.............................................................................................. 169
S-0-0341, Status "In coarse position".............................................................................................. 170
S-0-0342, Status "Target position attained".................................................................................... 170
S-0-0343, Status "Interpolator halted"............................................................................................. 171
S-0-0346, Positioning control word.................................................................................................. 171
S-0-0347, Velocity error................................................................................................................... 173
S-0-0348, Acceleration feedforward gain........................................................................................ 174
S-0-0349, Jerk limit bipolar.............................................................................................................. 175
S-0-0359, Positioning deceleration.................................................................................................. 176
S-0-0360, Data container A: command value 1............................................................................... 177
S-0-0362, Data container A: list index command values................................................................. 177
S-0-0364, Data container A: feedback value 1................................................................................ 178
S-0-0366, Data container A: list index feedback values.................................................................. 178
S-0-0368, Data container A: addressing......................................................................................... 179
S-0-0370, Data container A: configuration list command value-1................................................... 179
S-0-0371, Data container A: configuration list feedback value-1..................................................... 180
S-0-0372, Drive Halt acceleration bipolar........................................................................................ 181
S-0-0375, List of diagnostic numbers.............................................................................................. 181
S-0-0378, Absolute encoder range of motor encoder..................................................................... 182
S-0-0379, Absolute encoder range of optional encoder.................................................................. 182
S-0-0380, DC bus voltage............................................................................................................... 183
S-0-0382, DC bus power................................................................................................................. 183
S-0-0383, Motor temperature.......................................................................................................... 183

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG VII/XXXV


and Controls

Table of Contents
Page
3.3.84
3.3.85
3.3.86
3.3.87
3.3.88
3.3.89
3.3.90
3.3.91
3.4
3.4.1
3.4.2
3.4.3
3.4.4
3.4.5
3.4.6
3.4.7
3.4.8
3.4.9
3.4.10
3.4.11
3.4.12
3.4.13
3.4.14
3.4.15
3.4.16
3.4.17
3.4.18
3.4.19
3.4.20
3.4.21
3.4.22
3.4.23
3.4.24
3.4.25
3.4.26
3.4.27
3.4.28
3.4.29
3.4.30
3.4.31
3.4.32
3.4.33
3.4.34
3.4.35
3.4.36
3.4.37

S-0-0384, Amplifier temperature..................................................................................................... 184


S-0-0386, Active position feedback value....................................................................................... 184
S-0-0390, Diagnostic message number.......................................................................................... 185
S-0-0391, Monitoring window feedback 2....................................................................................... 185
S-0-0393, Command value mode.................................................................................................... 186
S-0-0398, IDN list of configurable data in signal status word.......................................................... 188
S-0-0399, IDN list of configurable data in the signal control word................................................... 188
S-0-0400, Home switch................................................................................................................... 189
S-0-0401 - S-0-1135 Standard Parameters........................................................................................ 190
S-0-0401, Probe 1........................................................................................................................... 190
S-0-0402, Probe 2........................................................................................................................... 190
S-0-0403, Position feedback value status....................................................................................... 191
S-0-0404, Position command value status...................................................................................... 192
S-0-0405, Probe 1 enable............................................................................................................... 192
S-0-0406, Probe 2 enable............................................................................................................... 193
S-0-0407, Homing enable................................................................................................................ 193
S-0-0408, Reference marker pulse registered................................................................................ 194
S-0-0409, Probe 1 positive latched................................................................................................. 195
S-0-0410, Probe 1 negative latched................................................................................................ 196
S-0-0411, Probe 2 positive latched................................................................................................. 197
S-0-0412, Probe 2 negative latched................................................................................................ 197
S-0-0413, Bit number allocation of real-time control bit 1................................................................ 198
S-0-0414, Bit number allocation of real-time control bit 2................................................................ 199
S-0-0415, Bit number allocation of real-time status bit 1................................................................. 199
S-0-0416, Bit number allocation of real-time status bit 2................................................................. 200
S-0-0417, Positioning velocity threshold in modulo mode............................................................... 200
S-0-0418, Target position window in modulo mode........................................................................ 201
S-0-0419, Positioning command acknowledge............................................................................... 201
S-0-0420, C0400 Activate parameterization level 1 procedure command...................................... 202
S-0-0422, C0200 Exit parameterization level procedure command................................................ 202
S-0-0423, IDN-list of invalid op. data for parameterization level..................................................... 203
S-0-0424, Status parameterization level......................................................................................... 203
S-0-0426, Signal select probe 1...................................................................................................... 204
S-0-0427, Signal select probe 2...................................................................................................... 204
S-0-0428, Probe, IDN list signal selection....................................................................................... 204
S-0-0430, Effective target position.................................................................................................. 205
S-0-0437, Positioning status word................................................................................................... 206
S-0-0446, Ramp reference velocity for acceleration data............................................................... 207
S-0-0447, Command Set absolute measuring................................................................................ 208
S-0-0448, Control word for setting absolute measuring.................................................................. 208
S-0-0450, Data container A: command value 2............................................................................... 209
S-0-0451, Data container A: command value 3............................................................................... 210
S-0-0452, Data container A: command value 4............................................................................... 210
S-0-0453, Data container A: command value 5............................................................................... 211
S-0-0454, Data container A: command value 6............................................................................... 211
S-0-0455, Data container A: command value 7............................................................................... 212

VIII/XXXV Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
3.4.38
3.4.39
3.4.40
3.4.41
3.4.42
3.4.43
3.4.44
3.4.45
3.4.46
3.4.47
3.4.48
3.4.49
3.4.50
3.4.51
3.4.52
3.4.53
3.4.54
3.4.55
3.4.56
3.4.57
3.4.58
3.4.59
3.4.60
3.4.61
3.4.62
3.4.63
3.4.64
3.4.65
3.4.66
3.4.67
3.4.68
3.4.69
3.4.70
3.4.71
3.4.72
3.4.73
3.4.74
3.4.75
3.4.76
3.4.77
3.4.78
3.4.79
3.4.80
3.4.81
3.4.82
3.4.83

S-0-0456, Data container A: command value 8............................................................................... 212


S-0-0460, Position switch point 1 "Off"............................................................................................ 213
S-0-0480, Data container A: feedback value 2................................................................................ 213
S-0-0481, Data container A: feedback value 3................................................................................ 213
S-0-0482, Data container A: feedback value 4................................................................................ 214
S-0-0483, Data container A: feedback value 5................................................................................ 214
S-0-0484, Data container A: feedback value 6................................................................................ 215
S-0-0485, Data container A: feedback value 7................................................................................ 215
S-0-0486, Data container A: feedback value 8................................................................................ 216
S-0-0490, Data container A: configuration list command value 2.................................................... 216
S-0-0491, Data container A: configuration list command value 3.................................................... 217
S-0-0492, Data container A: configuration list command value 4.................................................... 217
S-0-0493, Data container A: configuration list command value 5.................................................... 218
S-0-0494, Data container A: configuration list command value 6.................................................... 219
S-0-0495, Data container A: configuration list command value 7.................................................... 219
S-0-0496, Data container A: configuration list command value 8.................................................... 220
S-0-0500, Data container A: configuration list feedback value 2..................................................... 220
S-0-0501, Data container A: configuration list feedback value 3..................................................... 221
S-0-0502, Data container A: configuration list feedback value 4..................................................... 221
S-0-0503, Data container A: configuration list feedback value 5..................................................... 222
S-0-0504, Data container A: configuration list feedback value 6..................................................... 223
S-0-0505, Data container A: configuration list feedback value 7..................................................... 223
S-0-0506, Data container A: configuration list feedback value 8..................................................... 224
S-0-0520, Control word of axis controller........................................................................................ 224
S-0-0521, Status word of position loop............................................................................................ 225
S-0-0531, Checksum of backup operation data.............................................................................. 226
S-0-0822, Torque/force ramp.......................................................................................................... 227
S-0-0823, Torque/force ramp time.................................................................................................. 228
S-0-0824, Message torque/force command value reached............................................................. 229
S-0-0826, Torque/force window...................................................................................................... 230
S-0-1001, SERCOS III: NC cycle time (TNcyc)............................................................................... 230
S-0-1002, SERCOS III: SERCOS cycle time (TScyc)..................................................................... 231
S-0-1003, SERCOS III: allowed number telegram failures.............................................................. 232
S-0-1005, SERCOS III: Minimum feedback acquisition time (T5)................................................... 232
S-0-1006, SERCOS III: AT transmission starting time (T1)............................................................. 233
S-0-1007, SERCOS III: Feedback acquisition starting time (T4)..................................................... 233
S-0-1008, SERCOS III: Command value valid time (T3)................................................................. 234
S-0-1009, SERCOS III: RTC offset in MDT..................................................................................... 234
S-0-1010, SERCOS III: MDT lengths.............................................................................................. 235
S-0-1011, SERCOS III: RTC offset in AT........................................................................................ 236
S-0-1012, SERCOS III: AT lengths................................................................................................. 236
S-0-1013, SERCOS III: SVC offset in MDT..................................................................................... 237
S-0-1014, SERCOS III: SVC offset in AT........................................................................................ 238
S-0-1015, SERCOS III: ring delay................................................................................................... 238
S-0-1016, SERCOS III: slave delay (SYNCCNT-P, SYNCCNT-S)................................................. 239
S-0-1017, SERCOS III: IP channel transmission starting time........................................................ 239

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG IX/XXXV


and Controls

Table of Contents
Page
3.4.84
3.4.85
3.4.86
3.4.87
3.4.88
3.4.89
3.4.90
3.4.91
3.4.92
3.4.93
3.4.94
3.4.95
3.4.96
3.4.97
3.4.98

4
4.1
4.1.1
4.1.2
4.1.3
4.1.4
4.1.5
4.1.6
4.1.7
4.1.8
4.1.9
4.1.10
4.1.11
4.1.12
4.1.13
4.1.14
4.1.15
4.1.16
4.1.17
4.1.18
4.1.19
4.1.20
4.1.21
4.1.22
4.1.23
4.1.24
4.1.25
4.1.26
4.1.27
4.1.28

S-0-1019, Master communication: MAC address............................................................................ 240


S-0-1020, Master communication: IP address................................................................................ 240
S-0-1021, Master communication: network mask........................................................................... 241
S-0-1022, Master communication: gateway address...................................................................... 242
S-0-1023, SERCOS III: SYNC jitter................................................................................................. 243
S-0-1024, SERCOS III: ring control................................................................................................. 244
S-0-1025, SERCOS III: ring status.................................................................................................. 244
S-0-1026, SERCOS III: hardware code........................................................................................... 245
S-0-1028, SERCOS III: MST error counter..................................................................................... 246
S-0-1029, SERCOS III: MDT error counter..................................................................................... 247
S-0-1030, SERCOS III: AT error counter........................................................................................ 247
S-0-1040, Drive address of master communication........................................................................ 248
S-0-1095, SERCOS III: diagnostic message................................................................................... 249
S-0-1134, SERCOS III: Master control word................................................................................... 250
S-0-1135, SERCOS III: Drive status word....................................................................................... 250

Product-Specific Parameters..................................................................................... 253


P-0-0000 - P-0-0100 General Functions............................................................................................. 253
P-0-0001, Switching frequency of the power output stage.............................................................. 253
P-0-0004, Speed loop smoothing time constant.............................................................................. 254
P-0-0007, Display text of diagnostic message................................................................................ 254
P-0-0008, Activation E-Stop function............................................................................................... 255
P-0-0009, Error number................................................................................................................... 256
P-0-0010, Excessive position command value................................................................................ 256
P-0-0011, Last valid position command value................................................................................. 257
P-0-0012, C0300 Command Set absolute measuring..................................................................... 257
P-0-0013, List of all IDNs not corresponding to default value......................................................... 258
P-0-0014, C1400 Command Get marker position........................................................................... 258
P-0-0018, Number of pole pairs/pole pair distance......................................................................... 259
P-0-0019, Initial position value........................................................................................................ 260
P-0-0020, Oscilloscope: operating mode........................................................................................ 260
P-0-0021, Oscilloscope: list of measured values 1.......................................................................... 261
P-0-0022, Oscilloscope: list of measured values 2.......................................................................... 261
P-0-0023, Oscilloscope: signal selection 1...................................................................................... 262
P-0-0024, Oscilloscope: signal selection 2...................................................................................... 262
P-0-0025, Oscilloscope: trigger mask.............................................................................................. 263
P-0-0026, Oscilloscope: trigger signal selection.............................................................................. 263
P-0-0027, Oscilloscope: trigger level............................................................................................... 264
P-0-0028, Oscilloscope: control word.............................................................................................. 265
P-0-0029, Oscilloscope: status word............................................................................................... 265
P-0-0030, Oscilloscope: trigger edge.............................................................................................. 267
P-0-0031, Oscilloscope: time resolution.......................................................................................... 267
P-0-0032, Oscilloscope: size of memory......................................................................................... 268
P-0-0033, Oscilloscope: number of measured values after trigger event........................................ 269
P-0-0034, Position command additional actual value...................................................................... 269
P-0-0035, Oscilloscope: control offset............................................................................................. 270

X/XXXV

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.1.29
4.1.30
4.1.31
4.1.32
4.1.33
4.1.34
4.1.35
4.1.36
4.1.37
4.1.38
4.1.39
4.1.40
4.1.41
4.1.42
4.1.43
4.1.44
4.1.45
4.1.46
4.1.47
4.1.48
4.1.49
4.1.50
4.1.51
4.1.52
4.1.53
4.1.54
4.1.55
4.1.56
4.1.57
4.1.58
4.1.59
4.1.60
4.1.61
4.1.62
4.1.63
4.1.64
4.1.65
4.1.66
4.1.67
4.1.68
4.1.69
4.1.70
4.1.71
4.1.72
4.1.73
4.1.74

P-0-0036, Oscilloscope: external trigger signal............................................................................... 270


P-0-0037, Oscilloscope: internal trigger signal................................................................................ 271
P-0-0038, Torque-generating current, command value................................................................... 271
P-0-0039, Flux-generating current, command value....................................................................... 272
P-0-0040, Velocity feedforward evaluation...................................................................................... 272
P-0-0041, Position command average value filter time constant.................................................... 273
P-0-0042, Current position command average value filter order..................................................... 274
P-0-0043, Torque-generating current, actual value......................................................................... 275
P-0-0044, Flux-generating current, actual value............................................................................. 275
P-0-0045, Control word of current controller................................................................................... 276
P-0-0046, Status word of current controller..................................................................................... 278
P-0-0047, Position command value control..................................................................................... 280
P-0-0048, Effective velocity command value................................................................................... 281
P-0-0049, Effective torque/force command value........................................................................... 281
P-0-0051, Torque/force constant..................................................................................................... 282
P-0-0052, Actual position value of measuring encoder................................................................... 283
P-0-0053, Master axis position........................................................................................................ 283
P-0-0054, Additive master axis position.......................................................................................... 284
P-0-0055, Return distance............................................................................................................... 285
P-0-0056, Return velocity................................................................................................................ 285
P-0-0057, Return acceleration......................................................................................................... 286
P-0-0058, Return jerk...................................................................................................................... 286
P-0-0059, Additive position command value, controller.................................................................. 287
P-0-0060, Filter time constant additional pos. Command................................................................ 287
P-0-0061, Angle offset begin of profile............................................................................................ 288
P-0-0063, Torque-generating voltage, actual value........................................................................ 288
P-0-0064, Flux-generating voltage, actual value............................................................................. 289
P-0-0065, Absolute voltage value, actual value.............................................................................. 289
P-0-0067, Phase current U, actual value......................................................................................... 290
P-0-0068, Phase current V, actual value......................................................................................... 290
P-0-0071, C3100 Recalculate actual value cycle............................................................................ 290
P-0-0072, Cam shaft profile 1.......................................................................................................... 291
P-0-0073, Cam shaft distance 2...................................................................................................... 292
P-0-0074, Encoder type 1 (motor encoder)..................................................................................... 293
P-0-0075, Encoder type 2 (optional encoder).................................................................................. 295
P-0-0076, Encoder type 3 (measuring encoder)............................................................................. 297
P-0-0077, Assignment motor encoder->optional slot...................................................................... 298
P-0-0078, Assignment optional encoder ->optional slot.................................................................. 300
P-0-0079, Assignment measuring encoder ->optional slot.............................................................. 301
P-0-0081, Parallel output 1.............................................................................................................. 302
P-0-0082, Parallel input 1................................................................................................................ 304
P-0-0083, Gear ratio fine adjust...................................................................................................... 305
P-0-0084, Number of bits per master axis revolution...................................................................... 305
P-0-0085, Dynamic angle offset...................................................................................................... 306
P-0-0086, Configuration word synchronous operating modes........................................................ 307
P-0-0087, Actual position value offset of measuring encoder......................................................... 310

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG XI/XXXV


and Controls

Table of Contents
Page
4.1.75
4.1.76
4.1.77
4.1.78
4.1.79
4.1.80
4.1.81
4.1.82
4.1.83
4.1.84
4.1.85
4.1.86
4.1.87
4.2
4.2.1
4.2.2
4.2.3
4.2.4
4.2.5
4.2.6
4.2.7
4.2.8
4.2.9
4.2.10
4.2.11
4.2.12
4.2.13
4.2.14
4.2.15
4.2.16
4.2.17
4.2.18
4.2.19
4.2.20
4.2.21
4.2.22
4.2.23
4.2.24
4.2.25
4.2.26
4.2.27
4.2.28
4.2.29
4.2.30
4.2.31
4.2.32

P-0-0088, Control word for synchronous operation modes............................................................. 310


P-0-0089, Status word for synchronous operating modes.............................................................. 312
P-0-0090, Travel range limit parameter........................................................................................... 314
P-0-0091, ........................................................................................................................................ 315
P-0-0092, Cam shaft profile 2.......................................................................................................... 316
P-0-0093, Cam shaft distance......................................................................................................... 316
P-0-0094, Cam shaft switch angle................................................................................................... 317
P-0-0095, Absolute encoder monitoring window for motor encoder................................................ 317
P-0-0096, Absolute encoder monitoring window for opt. encoder................................................... 318
P-0-0097, Absolute encoder monitoring window for measuring encoder........................................ 319
P-0-0098, Max. model deviation...................................................................................................... 319
P-0-0099, Position command smoothing time constant.................................................................. 320
P-0-0100, Position command value extension................................................................................ 321
P-0-0101 - P-0-0200 General Functions............................................................................................. 321
P-0-0101, Configuration for starting lockout selector...................................................................... 321
P-0-0102, Oper. hours power section at last activat. of start. lockout............................................. 322
P-0-0103, Time interval of forced dynamization.............................................................................. 322
P-0-0104, Change history time interval of forced dynamization...................................................... 323
P-0-0105, Time stamp for list of diagnostic message numbers....................................................... 323
P-0-0106, Operating status of starting lockout................................................................................ 324
P-0-0108, Master drive polarity....................................................................................................... 325
P-0-0109, Torque/force peak limit................................................................................................... 325
P-0-0114, Undervoltage threshold................................................................................................... 326
P-0-0115, Device control: status word............................................................................................. 328
P-0-0116, Device control: control word........................................................................................... 331
P-0-0117, Activation of control unit reaction on error...................................................................... 332
P-0-0118, Power supply, configuration............................................................................................ 333
P-0-0119, Best possible deceleration.............................................................................................. 334
P-0-0120, Control word easy startup............................................................................................... 336
P-0-0121, Gear 1 motor-side (motor encoder)................................................................................ 337
P-0-0122, Gear 1 encoder-side (motor encoder)............................................................................ 338
P-0-0123, Feed constant 2 (optional encoder)................................................................................ 339
P-0-0124, Gear 2 load-side (optional encoder)............................................................................... 339
P-0-0125, Gear 2 encoder-side (optional encoder)......................................................................... 340
P-0-0127, Input revolutions of measuring gear............................................................................... 341
P-0-0128, Output revolutions of measuring gear............................................................................. 341
P-0-0129, Internal position data format........................................................................................... 342
P-0-0130, Position switch signal selection list................................................................................. 342
P-0-0131, Position switch signal selection...................................................................................... 343
P-0-0132, Position switch switch-on threshold................................................................................ 344
P-0-0133, Position switch switch-off thresholds.............................................................................. 344
P-0-0134, Position switch lead times............................................................................................... 344
P-0-0135, Position switch status word............................................................................................. 345
P-0-0139, Analog output 1............................................................................................................... 346
P-0-0140, Analog output 2............................................................................................................... 346
P-0-0141, Thermal drive load.......................................................................................................... 346

XII/XXXV Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.2.33
4.2.34
4.2.35
4.2.36
4.2.37
4.2.38
4.2.39
4.2.40
4.2.41
4.2.42
4.2.43
4.2.44
4.2.45
4.2.46
4.2.47
4.2.48
4.2.49
4.2.50
4.2.51
4.2.52
4.2.53
4.2.54
4.2.55
4.2.56
4.2.57
4.2.58
4.2.59
4.2.60
4.2.61
4.2.62
4.2.63
4.2.64
4.2.65
4.2.66
4.2.67
4.2.68
4.2.69
4.2.70
4.2.71
4.2.72
4.2.73
4.2.74
4.2.75
4.2.76
4.2.77
4.2.78

P-0-0142, Synchronization acceleration.......................................................................................... 347


P-0-0143, Synchronization velocity................................................................................................. 348
P-0-0144, Cam shaft distance switch angle.................................................................................... 348
P-0-0145, Oscilloscope: list of measured values 3.......................................................................... 349
P-0-0146, Oscilloscope: list of measured values 4.......................................................................... 349
P-0-0147, Oscilloscope: signal selection 3...................................................................................... 350
P-0-0148, Oscilloscope: signal selection 4...................................................................................... 350
P-0-0149, Oscilloscope: signal selection list................................................................................... 351
P-0-0150, Oscilloscope: number of valid measured values............................................................ 351
P-0-0151, Synchronization init window for modulo format.............................................................. 352
P-0-0152, Synchronization completed............................................................................................. 352
P-0-0153, Optimum distance home switch-reference mark............................................................ 353
P-0-0154, Synchronization direction................................................................................................ 354
P-0-0155, Synchronization mode.................................................................................................... 354
P-0-0156, Master drive gear input revolutions................................................................................. 357
P-0-0157, Master drive gear output revolutions.............................................................................. 357
P-0-0158, Angle offset change rate................................................................................................. 358
P-0-0159, Slave drive feed travel.................................................................................................... 358
P-0-0162, C1800 Command Drive optimization / command value box........................................... 359
P-0-0163, Damping factor for autom. controller adjust.................................................................... 360
P-0-0164, Application for autom. controller adjust........................................................................... 360
P-0-0165, Drive optimization, control word...................................................................................... 361
P-0-0166, Drive optimization, end position negative....................................................................... 364
P-0-0167, Drive optimization, end position positive......................................................................... 365
P-0-0168, Maximum acceleration to be parameterized................................................................... 366
P-0-0169, Drive optimization, travel distance.................................................................................. 366
P-0-0170, Drive optimization, acceleration...................................................................................... 367
P-0-0171, Drive optimization, velocity............................................................................................. 368
P-0-0172, Drive optimization, dwell time......................................................................................... 368
P-0-0176, Torque/Force command smoothing time constant......................................................... 369
P-0-0177, Absolute encoder buffer 1 (motor encoder).................................................................... 369
P-0-0178, Absolute encoder buffer 2 (optional encoder)................................................................. 370
P-0-0179, Absolute encoder buffer 3 (measuring encoder)............................................................ 370
P-0-0180, Acceleration feedforward smoothing time constant........................................................ 371
P-0-0185, Control word of encoder 2 (optional encoder)................................................................ 372
P-0-0187, Position command processing mode.............................................................................. 374
P-0-0190, Operating hours control section...................................................................................... 375
P-0-0191, Operating hours power section....................................................................................... 376
P-0-0192, Error memory of diagnostic numbers.............................................................................. 376
P-0-0193, Error memory operating hours of control section............................................................ 377
P-0-0194, Error memory power section........................................................................................... 378
P-0-0195, IDN list of retain data (replacement of devices).............................................................. 379
P-0-0196, Build date and time......................................................................................................... 379
P-0-0197, System time.................................................................................................................... 380
P-0-0198, System time error memory............................................................................................. 381
P-0-0199, System time error code................................................................................................... 382

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG XIII/XXXV


and Controls

Table of Contents
Page
4.2.79
4.3
4.3.1
4.3.2
4.3.3
4.3.4
4.3.5
4.3.6
4.3.7
4.3.8
4.3.9
4.3.10
4.3.11
4.3.12
4.3.13
4.3.14
4.3.15
4.3.16
4.3.17
4.3.18
4.3.19
4.3.20
4.3.21
4.3.22
4.3.23
4.3.24
4.3.25
4.3.26
4.3.27
4.3.28
4.3.29
4.3.30
4.3.31
4.3.32
4.3.33
4.3.34
4.3.35
4.3.36
4.3.37
4.3.38
4.3.39
4.3.40
4.3.41
4.3.42
4.3.43
4.3.44

P-0-0200, Start position probe function 2 active.............................................................................. 382


P-0-0201 - P-0-0500 General Functions............................................................................................. 383
P-0-0201, End position probe function 2 active............................................................................... 383
P-0-0202, Difference probe values 1............................................................................................... 383
P-0-0203, Difference probe values 2............................................................................................... 384
P-0-0204, Start position probe function 1 active.............................................................................. 385
P-0-0205, End position probe function 1 active............................................................................... 386
P-0-0206, Probe 1, max. number of marker failures....................................................................... 386
P-0-0207, Probe 2, max. number of marker failures....................................................................... 387
P-0-0208, Analog input 5................................................................................................................. 387
P-0-0209, Analog input 6................................................................................................................. 388
P-0-0210, Analog input 1................................................................................................................. 389
P-0-0211, Analog input 2................................................................................................................. 389
P-0-0212, Analog input, list of assignable parameters.................................................................... 390
P-0-0213, Analog input, assignment A, target parameter............................................................... 390
P-0-0214, Analog input, assignment A, scaling per 10V full scale.................................................. 391
P-0-0215, Analog input, assignment A, signal value at 0V.............................................................. 391
P-0-0216, Analog input, assignment A, dead zone......................................................................... 392
P-0-0217, Analog input 1, time constant input filter......................................................................... 392
P-0-0218, Analog input, control parameter...................................................................................... 393
P-0-0219, Analog input, maximum value for adjust......................................................................... 395
P-0-0220, C2800 Analog input adjust command............................................................................. 396
P-0-0222, Travel range limit switch inputs....................................................................................... 396
P-0-0223, E-Stop input.................................................................................................................... 397
P-0-0224, Probe 1, number of marker failures................................................................................ 398
P-0-0225, Probe 2, number of marker failures................................................................................ 398
P-0-0226, Probe, extended control word......................................................................................... 399
P-0-0227, Cam shaft profile, access angle...................................................................................... 401
P-0-0228, Analog input 3................................................................................................................. 401
P-0-0229, Analog input 4................................................................................................................. 402
P-0-0231, Analog input 2, time constant input filter......................................................................... 402
P-0-0232, Analog input 3, time constant input filter......................................................................... 403
P-0-0233, Analog input 4, time constant input filter......................................................................... 404
P-0-0234, Analog input 5, time constant input filter......................................................................... 405
P-0-0235, Analog input 6, time constant input filter......................................................................... 406
P-0-0236, Analog input, assignment B, target parameter............................................................... 407
P-0-0237, Analog input, assignment B, scaling per 10V full scale.................................................. 407
P-0-0238, Analog input, assignment B, signal value at 0V.............................................................. 408
P-0-0239, Analog input, assignment B, dead zone......................................................................... 408
P-0-0240, C1700 Command measuring wheel mode..................................................................... 409
P-0-0241, Actual pos. smoothing time constant for hybrid pos. control.......................................... 409
P-0-0242, Current actual slip value in %......................................................................................... 410
P-0-0243, Maximum occurred actual slip value in %....................................................................... 410
P-0-0244, Monitoring window of slip in %........................................................................................ 411
P-0-0300, Digital I/Os, assignment list............................................................................................ 411
P-0-0301, Digital I/Os, bit numbers................................................................................................. 413

XIV/XXXV Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.3.45
4.3.46
4.3.47
4.3.48
4.3.49
4.3.50
4.3.51
4.3.52
4.3.53
4.3.54
4.3.55
4.3.56
4.3.57
4.3.58
4.3.59
4.3.60
4.3.61
4.3.62
4.3.63
4.3.64
4.3.65
4.3.66
4.3.67
4.3.68
4.3.69
4.3.70
4.3.71
4.3.72
4.3.73
4.3.74
4.3.75
4.3.76
4.3.77
4.3.78
4.3.79
4.3.80
4.3.81
4.3.82
4.3.83
4.3.84
4.3.85
4.3.86
4.3.87
4.3.88
4.3.89
4.3.90

P-0-0302, Digital I/Os, direction....................................................................................................... 413


P-0-0303, Digital I/Os, status display.............................................................................................. 414
P-0-0304, Digital I/Os, outputs........................................................................................................ 416
P-0-0326, Multiplication of measuring encoder............................................................................... 417
P-0-0327, Encoder resolution of measuring encoder...................................................................... 417
P-0-0328, Type of position encoder for measuring encoder........................................................... 418
P-0-0329, Smoothing of actual position value 3 of measuring encoder.......................................... 419
P-0-0330, Control word of measuring encoder................................................................................ 420
P-0-0331, Status of measuring encoder.......................................................................................... 420
P-0-0332, Actual velocity value of measuring encoder................................................................... 421
P-0-0334, Absolute encoder range of measuring encoder.............................................................. 421
P-0-0340, C3500 Command Determine encoder correction values................................................ 421
P-0-0341, Control word for encoder correction............................................................................... 422
P-0-0342, Correction value table for encoder correction................................................................. 423
P-0-0343, Encoder 1, cosine signal................................................................................................. 423
P-0-0344, Encoder 1, sine signal.................................................................................................... 424
P-0-0345, Encoder 2, cosine signal................................................................................................. 425
P-0-0346, Encoder 2, sine signal.................................................................................................... 425
P-0-0347, Encoder 3, cosine signal................................................................................................. 426
P-0-0348, Encoder 3, sine signal.................................................................................................... 426
P-0-0391, Actual position value difference encoder1 - encoder2.................................................... 427
P-0-0393, IDN groups: control word................................................................................................ 428
P-0-0394, IDN groups: list............................................................................................................... 428
P-0-0395, Average value filter for display: signal selection............................................................. 429
P-0-0396, Average value filter for display: signal selection list........................................................ 430
P-0-0397, Average value filter for display: time constant................................................................ 431
P-0-0400, Axis correction external correction value........................................................................ 432
P-0-0401, Axis correction active correction value........................................................................... 433
P-0-0402, Axis correction reference temperature............................................................................ 433
P-0-0403, Axis correction reference position for temp. corr............................................................ 434
P-0-0404, Axis correction actual temperature pos.-dependent....................................................... 434
P-0-0405, Axis correction actual temperature pos.-independent.................................................... 435
P-0-0406, Axis correction temperature factor pos.-dependent........................................................ 435
P-0-0407, Axis correction temperature factor pos.-independent..................................................... 436
P-0-0408, Axis correction start position........................................................................................... 436
P-0-0409, Axis correction end position............................................................................................ 437
P-0-0410, Axis correction support point distance............................................................................ 437
P-0-0411, Axis correction, correction table positive........................................................................ 438
P-0-0412, Axis correction, correction table negative....................................................................... 439
P-0-0413, Axis correction control word............................................................................................ 439
P-0-0414, Analog Output 3.............................................................................................................. 440
P-0-0415, Analog Output 4.............................................................................................................. 440
P-0-0416, Analog Output 5.............................................................................................................. 441
P-0-0417, Analog Output 6.............................................................................................................. 441
P-0-0418, Analog output, assignment A, signal value at 0V........................................................... 442
P-0-0419, Analog output, assignment B, signal value at 0V........................................................... 442

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG XV/XXXV


and Controls

Table of Contents
Page
4.3.91
4.3.92
4.3.93
4.3.94
4.3.95
4.3.96
4.3.97
4.3.98
4.3.99
4.3.100
4.3.101
4.3.102
4.3.103
4.3.104
4.3.105
4.3.106
4.3.107
4.3.108
4.3.109
4.3.110
4.3.111
4.3.112
4.3.113
4.3.114
4.3.115
4.3.116
4.3.117
4.3.118
4.3.119
4.3.120
4.3.121
4.3.122
4.3.123
4.3.124
4.3.125
4.3.126
4.3.127
4.3.128
4.3.129
4.3.130
4.3.131
4.3.132
4.3.133
4.3.134
4.3.135
4.3.136

P-0-0420, Analog output, assignment A, signal selection............................................................... 443


P-0-0422, Analog output, assignment A, scaling [1/V].................................................................... 443
P-0-0423, Analog output, assignment B, signal selection............................................................... 444
P-0-0425, Analog output, assignment B, scaling [1/V].................................................................... 444
P-0-0426, Analog output IDN list of assignable parameters............................................................ 445
P-0-0427, Control parameter of analog output................................................................................ 445
P-0-0434, Position command value of controller............................................................................. 447
P-0-0435, Control word of position controller.................................................................................. 447
P-0-0436, Reference radius for quadrant error correction............................................................... 448
P-0-0437, Velocity time range for quadrant error correction........................................................... 448
P-0-0438, Table of path velocities for quadrant error correction..................................................... 449
P-0-0439, Table of velocity pulse for quadrant error correction...................................................... 449
P-0-0440, Actual output current value (absolute value).................................................................. 450
P-0-0441, Overload warning............................................................................................................ 450
P-0-0442, Actual value torque limit positive (stationary)................................................................. 451
P-0-0443, Actual value torque limit negative (stationary)................................................................ 451
P-0-0444, Actual value peak torque limit......................................................................................... 452
P-0-0445, Status word torque/current limit...................................................................................... 453
P-0-0451, Actual acceleration torque/force value............................................................................ 454
P-0-0452, Actual process torque/force value.................................................................................. 455
P-0-0453, Integral-action component velocity loop......................................................................... 455
P-0-0454, Velocity feedforward actual value................................................................................... 456
P-0-0455, Acceleration feedforward actual value............................................................................ 456
P-0-0460, Module group, control word............................................................................................ 457
P-0-0461, Module group, status word............................................................................................. 458
P-0-0477, Logbook axis number..................................................................................................... 459
P-0-0478, Logbook event................................................................................................................ 459
P-0-0479, Logbook time stamp....................................................................................................... 460
P-0-0480, Patch function 1, source pointer..................................................................................... 460
P-0-0481, Patch function 1, attribute............................................................................................... 461
P-0-0482, Patch function 1, bit mask............................................................................................... 461
P-0-0483, Patch function 1, exponent............................................................................................. 462
P-0-0485, Patch function 1, display................................................................................................. 462
P-0-0486, Patch function 2, source pointer..................................................................................... 463
P-0-0487, Patch function 2, attribute............................................................................................... 463
P-0-0488, Patch function 2, bit mask............................................................................................... 464
P-0-0489, Patch function 2, exponent............................................................................................. 465
P-0-0491, Patch function 2, display................................................................................................. 465
P-0-0492, PLC patch function 1, data source.................................................................................. 466
P-0-0493, PLC patch function 1, display......................................................................................... 467
P-0-0494, PLC patch function 2, data source.................................................................................. 467
P-0-0495, PLC patch function 2, display......................................................................................... 468
P-0-0496, PLC patch function 3, data source.................................................................................. 468
P-0-0497, PLC patch function 3, display......................................................................................... 469
P-0-0498, PLC patch function 4, data source.................................................................................. 470
P-0-0499, PLC patch function 4, display......................................................................................... 471

XVI/XXXV Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.4
4.4.1
4.4.2
4.4.3
4.4.4
4.4.5
4.4.6
4.4.7
4.4.8
4.4.9
4.4.10
4.4.11
4.4.12
4.4.13
4.4.14
4.4.15
4.4.16
4.4.17
4.4.18
4.4.19
4.4.20
4.4.21
4.4.22
4.4.23
4.4.24
4.4.25
4.4.26
4.4.27
4.4.28
4.4.29
4.4.30
4.4.31
4.4.32
4.4.33
4.4.34
4.4.35
4.4.36
4.4.37
4.4.38
4.4.39
4.4.40
4.4.41
4.4.42
4.4.43
4.4.44
4.4.45

P-0-0501 - P-0-0689 General Functions ............................................................................................ 471


P-0-0506, Amplitude for angle acquisition....................................................................................... 471
P-0-0507, Test frequency for angle acquisition............................................................................... 472
P-0-0508, Commutation offset......................................................................................................... 473
P-0-0510, Rotor inertia.................................................................................................................... 474
P-0-0512, Temperature sensor....................................................................................................... 475
P-0-0513, Temperature sensor characteristic................................................................................. 476
P-0-0517, Commutation: required harmonics component............................................................... 477
P-0-0518, C5600 Command subsequent optimization of commutation offset................................ 478
P-0-0520, Encoder validation error threshold factor........................................................................ 479
P-0-0521, Effective commutation offset........................................................................................... 479
P-0-0522, Control word for commutation setting............................................................................. 480
P-0-0523, Commutation setting measured value............................................................................ 482
P-0-0524, C1200 Commutation offset setting command................................................................. 483
P-0-0525, Holding brake control word............................................................................................. 483
P-0-0528, Flux loop proportional gain............................................................................................. 485
P-0-0529, Scaling of stall current limit............................................................................................. 486
P-0-0530, Slip increase................................................................................................................... 487
P-0-0532, Premagnetization factor.................................................................................................. 488
P-0-0533, Voltage loop proportional gain........................................................................................ 490
P-0-0534, Voltage loop integral action time..................................................................................... 491
P-0-0535, Motor voltage at no load................................................................................................. 491
P-0-0536, Maximum motor voltage................................................................................................. 492
P-0-0539, Holding brake status word.............................................................................................. 493
P-0-0540, Torque of holding brake.................................................................................................. 494
P-0-0541, C2100 Brake check command........................................................................................ 494
P-0-0542, C2000 Command Release motor holding brake............................................................. 495
P-0-0543, C3800 Command Apply motor holding brake................................................................. 495
P-0-0544, C3900 Command Abrasion of brake.............................................................................. 496
P-0-0545, Test torque for releasing motor holding brake................................................................ 496
P-0-0546, Starting torque for releasing motor holding brake........................................................... 497
P-0-0547, Nominal load of holding system...................................................................................... 497
P-0-0549, Oper. hours control section at last successful brake check............................................ 498
P-0-0550, Time interval brake check............................................................................................... 499
P-0-0551, Current load torque......................................................................................................... 499
P-0-0554, Current torque value of the motor holding brake............................................................ 500
P-0-0555, Status word of axis controller.......................................................................................... 500
P-0-0556, Config word of axis controller......................................................................................... 501
P-0-0565, C3600 Command Motor data identification.................................................................... 505
P-0-0566, C4600 Command Calculate motor control parameters.................................................. 505
P-0-0568, Voltage boost.................................................................................................................. 506
P-0-0569, Maximum stator frequency slope.................................................................................... 506
P-0-0570, Stall protection loop proportional gain............................................................................ 507
P-0-0571, Stall protection loop integral action time......................................................................... 507
P-0-0572, Slip compensation factor................................................................................................ 508
P-0-0573, IxR boost factor............................................................................................................... 508

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AGXVII/XXXV


and Controls

Table of Contents
Page
4.4.46
4.4.47
4.4.48
4.4.49
4.4.50
4.4.51
4.4.52
4.4.53
4.4.54
4.4.55
4.4.56
4.4.57
4.4.58
4.4.59
4.4.60
4.4.61
4.4.62
4.4.63
4.4.64
4.4.65
4.4.66
4.4.67
4.4.68
4.4.69
4.4.70
4.4.71
4.4.72
4.4.73
4.4.74
4.5
4.5.1
4.5.2
4.5.3
4.5.4
4.5.5
4.5.6
4.5.7
4.5.8
4.5.9
4.5.10
4.5.11
4.5.12
4.5.13
4.5.14
4.5.15
4.5.16

P-0-0574, Oscillation damping factor.............................................................................................. 508


P-0-0575, Search mode: search current factor............................................................................... 509
P-0-0576, Search mode: finding point slip factor............................................................................. 509
P-0-0577, Square characteristic: lowering factor............................................................................. 510
P-0-0578, Current for deceleration, absolute value......................................................................... 510
P-0-0579, Current for deceleration, time period.............................................................................. 511
P-0-0590, Motor model frequency loop proportional gain............................................................... 512
P-0-0591, Motor model frequency loop integral action time............................................................ 513
P-0-0592, Motor model adjust factor............................................................................................... 513
P-0-0593, FXC: Total flux loop proportional gain............................................................................ 514
P-0-0594, FXC: Total flux loop integral action time......................................................................... 515
P-0-0595, FXC: Frequency loop proportional gain.......................................................................... 515
P-0-0596, FXC: Frequency loop scaling factor of inertia................................................................. 515
P-0-0597, FXC: Current loop proportional gain............................................................................... 516
P-0-0598, FXC: Current loop integral action time............................................................................ 517
P-0-0599, FXC: Slip frequency filter time constant.......................................................................... 517
P-0-0600, FXC: Rated slip frequency.............................................................................................. 518
P-0-0601, Configuration motor data identification........................................................................... 518
P-0-0612, Control word for setting absolute measuring.................................................................. 519
P-0-0620, Encoder validation monitoring signal.............................................................................. 520
P-0-0621, Encoder validation upper monitoring threshold.............................................................. 521
P-0-0622, Encoder validation lower monitoring threshold............................................................... 521
P-0-0640, Cooling type.................................................................................................................... 522
P-0-0681, Assignment IDN -> parallel output 1............................................................................... 523
P-0-0682, Assignment parallel input 1 -> IDN................................................................................. 523
P-0-0686, Additive position command value, positioning velocity................................................... 524
P-0-0687, Additive position command value, positioning acceleration............................................ 525
P-0-0688, Additive master axis position, positioning velocity.......................................................... 525
P-0-0689, Additive master axis position, positioning acceleration................................................... 526
P-0-0690 - P-0-0899 Synchronization Mode...................................................................................... 526
P-0-0690, Additive velocity command value, process loop............................................................. 526
P-0-0691, Additive position command value, process loop............................................................. 527
P-0-0692, Additive master axis position, process loop.................................................................... 528
P-0-0693, Filter time constant, add. master axis pos., process loop............................................... 528
P-0-0694, Gear ratio fine adjust, process loop................................................................................ 529
P-0-0695, Angle offset begin of profile, process loop...................................................................... 529
P-0-0696, Filter time constant, angle offset profile, process loop.................................................... 530
P-0-0697, Synchronization, master axis synchronous position....................................................... 530
P-0-0698, Synchronization, master axis synchronization range...................................................... 531
P-0-0700, Motion profile, master axis switching position................................................................. 531
P-0-0701, Motion step 1, slave axis initial position.......................................................................... 532
P-0-0702, Motion profile, diagnosis, set 0....................................................................................... 532
P-0-0703, Number of motion steps, set 0........................................................................................ 533
P-0-0704, Master axis velocity, set 0............................................................................................... 533
P-0-0705, List of master axis initial positions, set 0......................................................................... 534
P-0-0706, List of motion step modes, set 0..................................................................................... 534

XVIII/XXXVBosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.5.17
4.5.18
4.5.19
4.5.20
4.5.21
4.5.22
4.5.23
4.5.24
4.5.25
4.5.26
4.5.27
4.5.28
4.5.29
4.5.30
4.5.31
4.5.32
4.5.33
4.5.34
4.5.35
4.5.36
4.5.37
4.5.38
4.5.39
4.5.40
4.5.41
4.5.42
4.5.43
4.5.44
4.5.45
4.5.46
4.5.47
4.5.48
4.5.49
4.5.50
4.5.51
4.5.52
4.5.53
4.5.54
4.5.55
4.5.56
4.5.57
4.5.58
4.5.59
4.5.60
4.5.61
4.5.62

P-0-0707, List of distances, set 0.................................................................................................... 535


P-0-0708, List of slave axis velocities, set 0.................................................................................... 536
P-0-0709, Motion profile, diagnosis, set 1....................................................................................... 537
P-0-0710, Number of motion steps, set 1........................................................................................ 537
P-0-0711, Master axis velocity, set 1............................................................................................... 538
P-0-0712, List of master axis initial positions, set 1......................................................................... 538
P-0-0713, List of motion step modes, set 1..................................................................................... 539
P-0-0714, List of distances, set 1.................................................................................................... 539
P-0-0715, List of slave axis velocities, set 1.................................................................................... 540
P-0-0750, Master axis revolutions per master axis cycle................................................................ 540
P-0-0751, Synchronization divisions per command cycle slave axis.............................................. 541
P-0-0752, Load revolutions per actual value cycle slave axis......................................................... 542
P-0-0753, Position actual value in actual value cycle...................................................................... 543
P-0-0754, Command value cycle.................................................................................................... 543
P-0-0755, Gear reduction................................................................................................................ 544
P-0-0756, Virtual master axis, scaling type..................................................................................... 545
P-0-0757, Virtual master axis, modulo value................................................................................... 546
P-0-0758, Virtual master axis, actual position value........................................................................ 547
P-0-0759, Virtual master axis, actual velocity value........................................................................ 547
P-0-0760, Virtual master axis, positioning control word.................................................................. 548
P-0-0761, Master axis position for slave axis.................................................................................. 548
P-0-0764, Master axis speed........................................................................................................... 549
P-0-0765, Modulo factor measuring encoder.................................................................................. 549
P-0-0766, Virtual master axis, positioning command value............................................................. 550
P-0-0767, Virtual master axis, effective target position................................................................... 551
P-0-0768, Virtual master axis, positioning status............................................................................ 551
P-0-0769, Virtual master axis, command value mode..................................................................... 552
P-0-0770, Virtual master axis, positioning velocity.......................................................................... 553
P-0-0771, Virtual master axis, positioning acceleration................................................................... 553
P-0-0772, Virtual master axis, positioning deceleration.................................................................. 553
P-0-0774, Virtual master axis, positioning window shortest distance.............................................. 554
P-0-0775, Resulting master axis position........................................................................................ 554
P-0-0776, Effective master axis position......................................................................................... 555
P-0-0777, Effective master axis velocity.......................................................................................... 555
P-0-0778, Synchronous position command value........................................................................... 555
P-0-0779, Synchronous velocity...................................................................................................... 558
P-0-0780, Cam shaft profile 3.......................................................................................................... 558
P-0-0781, Cam shaft profile 4.......................................................................................................... 559
P-0-0782, Cam shaft profile 5.......................................................................................................... 559
P-0-0783, Cam shaft profile 6.......................................................................................................... 560
P-0-0784, Cam shaft profile 7.......................................................................................................... 561
P-0-0785, Cam shaft profile 8.......................................................................................................... 561
P-0-0786, Modulo value actual value cycle..................................................................................... 562
P-0-0806, Current mains voltage crest value.................................................................................. 562
P-0-0809, Properties of charging circuit.......................................................................................... 563
P-0-0810, Minimum mains crest value............................................................................................ 564

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG XIX/XXXV


and Controls

Table of Contents
Page
4.5.63
4.5.64
4.5.65
4.5.66
4.5.67
4.5.68
4.5.69
4.5.70
4.5.71
4.6
4.6.1
4.6.2
4.6.3
4.6.4
4.6.5
4.6.6
4.6.7
4.6.8
4.6.9
4.6.10
4.6.11
4.6.12
4.6.13
4.6.14
4.6.15
4.6.16
4.6.17
4.6.18
4.6.19
4.6.20
4.6.21
4.6.22
4.6.23
4.6.24
4.7
4.7.1
4.7.2
4.7.3
4.7.4
4.7.5
4.7.6
4.7.7
4.7.8
4.7.9
4.7.10
4.7.11

P-0-0815, Nominal mains voltage crest value................................................................................. 565


P-0-0816, Amplifier temperature 2.................................................................................................. 565
P-0-0819, Energy counter............................................................................................................... 566
P-0-0833, Braking resistor threshold............................................................................................... 566
P-0-0844, Braking resistor load....................................................................................................... 567
P-0-0858, Data of external braking resistor..................................................................................... 567
P-0-0859, Data of internal braking resistor...................................................................................... 568
P-0-0860, Converter configuration.................................................................................................. 569
P-0-0861, Power supply status word............................................................................................... 572
P-0-0900 - P-0-0999 Encoder Emulation............................................................................................ 574
P-0-0900, Encoder emulation signal selection list........................................................................... 574
P-0-0901, Encoder emulation signal selection................................................................................ 576
P-0-0902, Encoder emulation control parameter............................................................................. 577
P-0-0903, Encoder emulation resolution......................................................................................... 578
P-0-0904, Encoder emulation zero pulse offset.............................................................................. 580
P-0-0905, Encoder emulation zero pulse distance.......................................................................... 580
P-0-0910, SSI control parameter..................................................................................................... 581
P-0-0911, Virtual master axis, positioning window.......................................................................... 582
P-0-0912, Virtual master axis, standstill window............................................................................. 583
P-0-0913, Virtual master axis, positioning jerk................................................................................ 583
P-0-0914, Virtual master axis, velocity threshold positioning.......................................................... 584
P-0-0915, Master axis format converter IDN list signal selection.................................................... 584
P-0-0916, Master axis format converter signal selection................................................................. 585
P-0-0917, Control word of master axis generator............................................................................ 585
P-0-0918, Feed travel internal virtual master axis........................................................................... 586
P-0-0919, Synchronization mode, secondary master...................................................................... 586
P-0-0920, Synchronization acceleration, secondary master........................................................... 587
P-0-0921, Synchronization velocity, secondary master................................................................... 587
P-0-0922, Preferred synchronization direction, secondary master.................................................. 588
P-0-0923, Synchroniz. window for shortest distance, secondary master........................................ 588
P-0-0924, Selection primary master................................................................................................ 589
P-0-0925, Master drive gear input revolutions, secondary master.................................................. 589
P-0-0926, Master drive gear output revolutions, secondary master................................................ 589
P-0-0927, Master drive gear fine adjust, secondary master............................................................ 590
P-0-1000 - P-0-1099 Encoder Evaluation........................................................................................... 590
P-0-1000, Kind of encoder 1, encoder memory............................................................................... 590
P-0-1001, Encoder 1 resolution, encoder memory.......................................................................... 591
P-0-1002, Absolute encoder offset 1, encoder memory.................................................................. 592
P-0-1003, Pulse wire encoder offset 1, encoder memory............................................................... 592
P-0-1004, Pulse wire encoder status 1, encoder memory............................................................... 592
P-0-1010, Kind of encoder 2, encoder memory............................................................................... 593
P-0-1011, Encoder 2 resolution, encoder memory.......................................................................... 594
P-0-1012, Absolute encoder offset 2, encoder memory.................................................................. 594
P-0-1013, Pulse wire encoder offset 2, encoder memory............................................................... 595
P-0-1014, Pulse wire encoder status 2, encoder memory............................................................... 595
P-0-1020, Kind of encoder 3, encoder memory............................................................................... 596

XX/XXXV Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.7.12
4.7.13
4.7.14
4.8
4.8.1
4.8.2
4.8.3
4.8.4
4.8.5
4.8.6
4.8.7
4.8.8
4.8.9
4.8.10
4.8.11
4.8.12
4.8.13
4.8.14
4.8.15
4.8.16
4.8.17
4.8.18
4.8.19
4.8.20
4.8.21
4.8.22
4.8.23
4.8.24
4.8.25
4.8.26
4.8.27
4.8.28
4.8.29
4.8.30
4.8.31
4.8.32
4.8.33
4.8.34
4.8.35
4.8.36
4.8.37
4.8.38
4.8.39
4.8.40
4.8.41
4.8.42

P-0-1021, Encoder 3 resolution, encoder memory.......................................................................... 597


P-0-1022, Absolute encoder offset 3, encoder memory.................................................................. 597
P-0-1044, Master communication: status IP communication.......................................................... 597
P-0-1100 - P-0-1299 Velocity Control................................................................................................. 600
P-0-1119, Velocity mix factor feedback 1 & 2.................................................................................. 600
P-0-1120, Velocity control loop filter: filter type............................................................................... 600
P-0-1121, Velocity control loop filter: limit frequency of low pass.................................................... 601
P-0-1122, Velocity control loop filter: bandwidth of band-stop filter................................................. 602
P-0-1123, Vel. cont. loop filter: center frequency of band-stop filter................................................ 603
P-0-1125, Velocity control loop: average value filter clock.............................................................. 604
P-0-1126, Velocity control loop: acceleration feedforward.............................................................. 605
P-0-1139, Cogging torque compensation adaption factor............................................................... 606
P-0-1150, Command value generator output.................................................................................. 607
P-0-1151, Command value generator, list of possible target parameters....................................... 607
P-0-1152, Command value generator, target parameter assignment............................................. 607
P-0-1153, Command value generator, control word........................................................................ 608
P-0-1154, Command value generator, offset.................................................................................. 609
P-0-1155, Command value generator, amplitude............................................................................ 610
P-0-1156, Command value generator, duration 1........................................................................... 610
P-0-1157, Command value generator, duration 2........................................................................... 610
P-0-1158, Command value generator, periodic time....................................................................... 611
P-0-1200, Control word 1 velocity control........................................................................................ 611
P-0-1201, Ramp 1 pitch................................................................................................................... 613
P-0-1202, Final speed ramp 1......................................................................................................... 614
P-0-1203, Ramp 2 pitch................................................................................................................... 614
P-0-1206, Memory of velocity command values.............................................................................. 615
P-0-1207, Lower limit of velocity masking window.......................................................................... 616
P-0-1208, Upper limit of velocity masking window.......................................................................... 617
P-0-1209, Acceleration factors for velocity masking window........................................................... 617
P-0-1210, Status word of velocity control mode.............................................................................. 618
P-0-1211, Deceleration ramp 1....................................................................................................... 619
P-0-1213, Deceleration ramp 2....................................................................................................... 620
P-0-1214, Control word 2 velocity control........................................................................................ 621
P-0-1215, Motor potentiometer, acceleration.................................................................................. 622
P-0-1216, Motor potentiometer, deceleration.................................................................................. 623
P-0-1217, Motor potentiometer, step size....................................................................................... 624
P-0-1218, Motor potentiometer, command value............................................................................ 624
P-0-1222, Velocity command filter................................................................................................... 625
P-0-1223, List of acceleration ramps............................................................................................... 625
P-0-1224, List of braking ramps...................................................................................................... 626
P-0-1225, List of smoothing time constants.................................................................................... 627
P-0-1270, PLC Global Register A0.................................................................................................. 628
P-0-1271, PLC Global Register A1.................................................................................................. 628
P-0-1272, PLC Global Register A2.................................................................................................. 629
P-0-1273, PLC Global Register A3.................................................................................................. 629
P-0-1274, PLC Global Register A4.................................................................................................. 629

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG XXI/XXXV


and Controls

Table of Contents
Page
4.8.43
4.8.44
4.8.45
4.8.46
4.8.47
4.8.48
4.8.49
4.8.50
4.8.51
4.8.52
4.8.53
4.8.54
4.8.55
4.8.56
4.8.57
4.8.58
4.8.59
4.8.60
4.8.61
4.8.62
4.8.63
4.8.64
4.8.65
4.8.66
4.8.67
4.9
4.9.1
4.9.2
4.9.3
4.9.4
4.9.5
4.9.6
4.9.7
4.9.8
4.9.9
4.9.10
4.9.11
4.9.12
4.9.13
4.9.14
4.9.15
4.9.16
4.9.17
4.9.18
4.9.19
4.9.20

P-0-1275, PLC Global Register A5.................................................................................................. 630


P-0-1276, PLC Global Register A6.................................................................................................. 630
P-0-1277, PLC Global Register A7.................................................................................................. 631
P-0-1278, PLC Global Register A8.................................................................................................. 631
P-0-1279, PLC Global Register A9.................................................................................................. 631
P-0-1280, PLC Global Register A10................................................................................................ 632
P-0-1281, PLC Global Register A11................................................................................................ 632
P-0-1282, PLC Global Register A12................................................................................................ 633
P-0-1283, PLC Global Register A13................................................................................................ 633
P-0-1284, PLC Global Register A14................................................................................................ 633
P-0-1285, PLC Global Register A15................................................................................................ 634
P-0-1286, PLC Global Register A16................................................................................................ 634
P-0-1287, PLC Global Register A17................................................................................................ 635
P-0-1288, PLC Global Register A18................................................................................................ 635
P-0-1289, PLC Global Register A19................................................................................................ 635
P-0-1290, PLC Global Register A20................................................................................................ 636
P-0-1291, PLC Global Register A21................................................................................................ 636
P-0-1292, PLC Global Register A22................................................................................................ 637
P-0-1293, PLC Global Register A23................................................................................................ 637
P-0-1294, PLC Global Register A24................................................................................................ 637
P-0-1295, PLC Global Register A25................................................................................................ 638
P-0-1296, PLC Global Register A26................................................................................................ 638
P-0-1297, PLC Global Register A27................................................................................................ 639
P-0-1298, PLC Global Register A28................................................................................................ 639
P-0-1299, PLC Global Register A29................................................................................................ 639
P-0-1300 - P-0-1499 Drive-Integrated PLC........................................................................................ 640
P-0-1300, PLC Global Register A30................................................................................................ 640
P-0-1301, PLC Global Register A31................................................................................................ 640
P-0-1311, PLC Global Register GL1............................................................................................... 641
P-0-1312, PLC Global Register GL2............................................................................................... 641
P-0-1316, PLC Global Register G16............................................................................................... 642
P-0-1317, PLC Global Register G17............................................................................................... 642
P-0-1318, PLC Global Register G18............................................................................................... 642
P-0-1319, PLC Global Register G19............................................................................................... 643
P-0-1320, PLC Global Register G20............................................................................................... 643
P-0-1321, PLC Global Register G21............................................................................................... 644
P-0-1322, PLC Global Register G22............................................................................................... 644
P-0-1323, PLC Global Register G23............................................................................................... 644
P-0-1324, PLC Global Register G24............................................................................................... 645
P-0-1325, PLC Global Register G25............................................................................................... 645
P-0-1326, PLC Global Register G26............................................................................................... 646
P-0-1327, PLC Global Register G27............................................................................................... 646
P-0-1328, PLC Global Register G28............................................................................................... 646
P-0-1329, PLC Global Register G29............................................................................................... 647
P-0-1330, PLC Global Register G30............................................................................................... 647
P-0-1331, PLC Global Register G31............................................................................................... 648

XXII/XXXVBosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.9.21
4.9.22
4.9.23
4.9.24
4.9.25
4.9.26
4.9.27
4.9.28
4.9.29
4.9.30
4.9.31
4.9.32
4.9.33
4.9.34
4.9.35
4.9.36
4.9.37
4.9.38
4.9.39
4.9.40
4.9.41
4.9.42
4.9.43
4.9.44
4.9.45
4.9.46
4.9.47
4.9.48
4.9.49
4.9.50
4.9.51
4.9.52
4.9.53
4.9.54
4.9.55
4.9.56
4.9.57
4.9.58
4.9.59
4.9.60
4.9.61
4.9.62
4.9.63
4.9.64
4.9.65
4.9.66

P-0-1350, PLC control word............................................................................................................ 648


P-0-1351, PLC status word............................................................................................................. 649
P-0-1352, PLC user program administration data........................................................................... 650
P-0-1353, PLC user program area 0............................................................................................... 650
P-0-1354, PLC user program area 1............................................................................................... 651
P-0-1355, PLC user program area 2............................................................................................... 651
P-0-1356, PLC user program area 3............................................................................................... 652
P-0-1357, PLC user program area 4............................................................................................... 652
P-0-1358, PLC user program area 5............................................................................................... 653
P-0-1359, PLC retain data............................................................................................................... 653
P-0-1360, PLC program identifier.................................................................................................... 654
P-0-1361, PLC program name........................................................................................................ 654
P-0-1362, PLC boot project info...................................................................................................... 655
P-0-1363, PLC project info.............................................................................................................. 656
P-0-1364, PLC idle time.................................................................................................................. 656
P-0-1365, PLC error message......................................................................................................... 657
P-0-1367, PLC configuration........................................................................................................... 659
P-0-1368, PLC Global Register AL0................................................................................................ 660
P-0-1369, PLC internally reserved.................................................................................................. 661
P-0-1370, PLC Global Register G0................................................................................................. 661
P-0-1371, PLC Global Register G1................................................................................................. 662
P-0-1372, PLC Global Register G2................................................................................................. 662
P-0-1373, PLC Global Register G3................................................................................................. 663
P-0-1374, PLC Global Register G4................................................................................................. 663
P-0-1375, PLC Global Register G5................................................................................................. 664
P-0-1376, PLC Global Register G6................................................................................................. 664
P-0-1377, PLC Global Register G7................................................................................................. 664
P-0-1378, PLC Global Register G8................................................................................................. 665
P-0-1379, PLC Global Register G9................................................................................................. 665
P-0-1380, PLC Global Register G10............................................................................................... 666
P-0-1381, PLC Global Register G11............................................................................................... 666
P-0-1382, PLC Global Register G12............................................................................................... 666
P-0-1383, PLC Global Register G13............................................................................................... 667
P-0-1384, PLC Global Register G14............................................................................................... 667
P-0-1385, PLC Global Register G15............................................................................................... 668
P-0-1386, PLC display format Global Register................................................................................ 668
P-0-1387, PLC Global Register AT0............................................................................................... 669
P-0-1388, PLC Global Register AT1............................................................................................... 670
P-0-1389, PLC Global Register GL0............................................................................................... 670
P-0-1390, PLC input WORD0 AT %IB0.......................................................................................... 671
P-0-1391, PLC input WORD1 AT %IB2.......................................................................................... 672
P-0-1392, PLC input WORD2 AT %IB4.......................................................................................... 672
P-0-1393, PLC input WORD3 AT %IB6.......................................................................................... 673
P-0-1394, PLC input WORD4 AT %IB8.......................................................................................... 673
P-0-1395, PLC input WORD5 AT %IB10........................................................................................ 673
P-0-1396, PLC input WORD6 AT %IB12........................................................................................ 674

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AGXXIII/XXXV


and Controls

Table of Contents
Page
4.9.67
4.9.68
4.9.69
4.9.70
4.9.71
4.9.72
4.9.73
4.9.74
4.9.75
4.9.76
4.9.77
4.9.78
4.9.79
4.9.80
4.9.81
4.9.82
4.9.83
4.9.84
4.9.85
4.9.86
4.9.87
4.9.88
4.9.89
4.9.90
4.9.91
4.9.92
4.9.93
4.9.94
4.9.95
4.9.96
4.9.97
4.9.98
4.9.99
4.9.100
4.9.101
4.9.102
4.9.103
4.9.104
4.9.105
4.9.106
4.9.107
4.9.108
4.9.109
4.9.110
4.9.111
4.9.112

P-0-1397, PLC input WORD7 AT %IB14........................................................................................ 674


P-0-1398, PLC input WORD8 AT %IB16........................................................................................ 675
P-0-1399, PLC input WORD9 AT %IB18........................................................................................ 675
P-0-1400, PLC input WORD10 AT %IB20...................................................................................... 675
P-0-1401, PLC input WORD11 AT %IB22...................................................................................... 676
P-0-1402, PLC input WORD12 AT %IB24...................................................................................... 676
P-0-1403, PLC input WORD13 AT %IB26...................................................................................... 677
P-0-1404, PLC input WORD14 AT %IB28...................................................................................... 677
P-0-1405, PLC input WORD15 AT %IB30...................................................................................... 678
P-0-1406, PLC input WORD16 AT %IB32...................................................................................... 678
P-0-1407, PLC input WORD17 AT %IB34...................................................................................... 679
P-0-1408, PLC input WORD18 AT %IB36...................................................................................... 679
P-0-1409, PLC input WORD19 AT %IB38...................................................................................... 679
P-0-1410, PLC output WORD0 AT %QB0...................................................................................... 680
P-0-1411, PLC output WORD1 AT %QB2...................................................................................... 681
P-0-1412, PLC output WORD2 AT %QB4...................................................................................... 681
P-0-1413, PLC output WORD3 AT %QB6...................................................................................... 682
P-0-1414, PLC output WORD4 AT %QB8...................................................................................... 682
P-0-1415, PLC output WORD5 AT %QB10.................................................................................... 683
P-0-1416, PLC output WORD6 AT %QB12.................................................................................... 683
P-0-1417, PLC output WORD7 AT %QB14.................................................................................... 683
P-0-1418, PLC output WORD8 AT %QB16.................................................................................... 684
P-0-1419, PLC output WORD9 AT %QB18.................................................................................... 685
P-0-1420, PLC output WORD10 AT %QB20.................................................................................. 685
P-0-1421, PLC output WORD11 AT %QB22.................................................................................. 686
P-0-1422, PLC output WORD12 AT %QB24.................................................................................. 686
P-0-1423, PLC output WORD13 AT %QB26.................................................................................. 687
P-0-1424, PLC output WORD14 AT %QB28.................................................................................. 687
P-0-1425, PLC output WORD15 AT %QB30.................................................................................. 688
P-0-1426, PLC output WORD16 AT %QB32.................................................................................. 688
P-0-1427, PLC output WORD17 AT %QB34.................................................................................. 689
P-0-1428, PLC output WORD18 AT %QB36.................................................................................. 689
P-0-1429, PLC output WORD19 AT %QB38.................................................................................. 689
P-0-1440, PLC input DWORD25 AT %IB100.................................................................................. 690
P-0-1441, PLC input DWORD26 AT %IB104.................................................................................. 691
P-0-1442, PLC input DWORD27 AT %IB108.................................................................................. 691
P-0-1443, PLC input DWORD28 AT %IB112.................................................................................. 692
P-0-1444, PLC input DWORD29 AT %IB116.................................................................................. 692
P-0-1445, PLC input DWORD30 AT %IB120.................................................................................. 693
P-0-1446, PLC input DWORD31 AT %IB124.................................................................................. 693
P-0-1447, PLC input DWORD32 AT %IB128.................................................................................. 693
P-0-1449, C4900 PLC command.................................................................................................... 694
P-0-1450, PLC/setting-up mode, positioning command value........................................................ 694
P-0-1451, PLC/setting-up mode, positioning velocity...................................................................... 695
P-0-1452, PLC/setting-up mode, positioning acceleration.............................................................. 696
P-0-1453, PLC/setting-up mode, positioning deceleration.............................................................. 696

XXIV/XXXVBosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.9.113
P-0-1454, PLC/setting-up mode, positioning command value acceptance..................................... 697
4.9.114
P-0-1455, PLC positioning command value acknowledge.............................................................. 698
4.9.115
P-0-1460, PLC/setting-up mode, velocity command value.............................................................. 698
4.9.116
P-0-1461, PLC Ramp 2 pitch........................................................................................................... 699
4.9.117
P-0-1463, PLC Deceleration ramp 2............................................................................................... 700
4.9.118
P-0-1465, PLC/Commishing mode Torque/force command value.................................................. 700
4.9.119
P-0-1466, PLC Torque/force ramp.................................................................................................. 701
4.9.120
P-0-1499, PLC retain data on-board............................................................................................... 702
4.10
P-0-1500 - P-0-1599 Device Parameters........................................................................................... 702
4.10.1
P-0-1506, Circuit board code optional module 1............................................................................. 702
4.10.2
P-0-1507, Circuit board code optional module 2............................................................................. 703
4.10.3
P-0-1508, Circuit board code optional module 3............................................................................. 704
4.10.4
P-0-1509, Circuit board code master communication..................................................................... 704
4.10.5
P-0-1510, Circuit board code power section................................................................................... 705
4.10.6
P-0-1511, Circuit board code control section.................................................................................. 706
4.10.7
P-0-1512, Circuit board code of optional module 4......................................................................... 707
4.10.8
P-0-1513, Circuit board code optional module 1 for safety technology........................................... 708
4.10.9
P-0-1514, Circuit board code optional module 2 for safety technology........................................... 708
4.10.10
P-0-1518, Module code of control section....................................................................................... 709
4.10.11
P-0-1519, Module code of power section........................................................................................ 710
4.10.12
P-0-1520, Control section type........................................................................................................ 711
4.10.13
P-0-1530, Control section MAC address......................................................................................... 711
4.10.14
P-0-1531, Control section IP address.............................................................................................. 712
4.10.15
P-0-1532, Control section network mask......................................................................................... 712
4.10.16
P-0-1533, Control section gateway address.................................................................................... 713
4.10.17
P-0-1534, C6100 Command Activate IP settings............................................................................ 713
4.10.18
P-0-1544, Control section status IP communication........................................................................ 714
4.11
P-0-1600 - P-0-1999 Cross Communication Drives (CCD)................................................................ 716
4.11.1
P-0-1600, CCD: configuration......................................................................................................... 716
4.11.2
P-0-1601, CCD: addresses of projected drives............................................................................... 719
4.11.3
P-0-1602, CCD: timing settings....................................................................................................... 720
4.11.4
P-0-1603, CCD: actual topology...................................................................................................... 720
4.11.5
P-0-1604, CCD: addresses of projected I/Os.................................................................................. 721
4.11.6
P-0-1605, CCD: command communication phase.......................................................................... 722
4.11.7
P-0-1606, CCD: actual communication phase................................................................................ 723
4.11.8
P-0-1607, CCD: axis error............................................................................................................... 723
4.11.9
P-0-1609, CCD: status word............................................................................................................ 724
4.11.10
P-0-1610, CCD: cycle time.............................................................................................................. 725
4.11.11
P-0-1611, CCD: configuration list signal status word...................................................................... 725
4.11.12
P-0-1612, CCD: configuration list signal control word..................................................................... 726
4.11.13
P-0-1613, CCD: assignment list signal status word........................................................................ 726
4.11.14
P-0-1614, CCD: assignment list signal control word....................................................................... 727
4.11.15
P-0-1615, CCD: extrapolated cmd value IDN list signal selection................................................... 727
4.11.16
P-0-1616, CCD: extrapolated cmd value signal selection............................................................... 728
4.11.17
P-0-1617, CCD: number of extrapolation steps............................................................................... 728
4.11.18
P-0-1618, CCD: extrapolated command value................................................................................ 729

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AGXXV/XXXV


and Controls

Table of Contents
Page
4.11.19
4.11.20
4.11.21
4.11.22
4.11.23
4.11.24
4.11.25
4.11.26
4.11.27
4.11.28
4.11.29
4.11.30
4.11.31
4.11.32
4.11.33
4.11.34
4.11.35
4.11.36
4.11.37
4.11.38
4.11.39
4.11.40
4.11.41
4.11.42
4.11.43
4.11.44
4.11.45
4.11.46
4.11.47
4.11.48
4.11.49
4.11.50
4.11.51
4.11.52
4.11.53
4.11.54
4.11.55
4.11.56
4.11.57
4.11.58
4.11.59
4.11.60
4.11.61
4.11.62
4.11.63
4.11.64

P-0-1621, CCD: configuration list master communication cmd values............................................ 729


P-0-1622, CCD: configuration list master communication actual values......................................... 730
P-0-1623, CCD: configuration list master cmd values..................................................................... 732
P-0-1624, CCD: configuration list actual master values.................................................................. 733
P-0-1625, CCD: configuration list slave cmd values....................................................................... 734
P-0-1626, CCD: configuration list actual slave values..................................................................... 735
P-0-1627, CCD: configuration list master cmd values I/Os............................................................. 737
P-0-1628, CCD: configuration list act. master values I/Os.............................................................. 737
P-0-1629, CCD: configuration compact I/Os................................................................................... 738
P-0-1630, CCD: diagnosis............................................................................................................... 739
P-0-1631, CCD: AT error counter.................................................................................................... 741
P-0-1632, CCD: system data 2 bytes.............................................................................................. 742
P-0-1633, CCD: system data 4 bytes.............................................................................................. 742
P-0-1635, CCD: command adjust slave addresses......................................................................... 743
P-0-1636, CCD: command topology................................................................................................ 743
P-0-1637, CCD: error counter Port-1............................................................................................... 744
P-0-1638, CCD: error counter Port-2............................................................................................... 745
P-0-1639, CCD: allowed telegram failures...................................................................................... 745
P-0-1640, CCD: MAC address........................................................................................................ 746
P-0-1641, CCD: IP address............................................................................................................. 746
P-0-1642, CCD: network mask........................................................................................................ 747
P-0-1643, CCD: gateway address................................................................................................... 747
P-0-1644, CCD: status IP communication....................................................................................... 748
P-0-1645, CCD: CC basic parameters............................................................................................ 750
P-0-1646, CCD: CC connection #1................................................................................................. 750
P-0-1647, CCD: CC connection #2................................................................................................. 751
P-0-1648, CCD: CC connection #3................................................................................................. 751
P-0-1649, CCD: CC connection #4................................................................................................. 751
P-0-1650, CCD: control word compact I/Os.................................................................................... 752
P-0-1651, CCD: master control word, slave 1................................................................................. 752
P-0-1652, CCD: master control word, slave 2................................................................................. 753
P-0-1653, CCD: master control word, slave 3................................................................................. 753
P-0-1654, CCD: master control word, slave 4................................................................................. 754
P-0-1655, CCD: master control word, slave 5................................................................................. 754
P-0-1656, CCD: master control word, slave 6................................................................................. 755
P-0-1657, CCD: master control word, slave 7................................................................................. 755
P-0-1658, CCD: master control word, slave 8................................................................................. 755
P-0-1659, CCD: master control word, slave 9................................................................................. 756
P-0-1660, CCD: status word compact I/Os..................................................................................... 756
P-0-1661, CCD: drive status word, slave 1..................................................................................... 757
P-0-1662, CCD: drive status word, slave 2..................................................................................... 757
P-0-1663, CCD: drive status word, slave 3..................................................................................... 758
P-0-1664, CCD: drive status word, slave 4..................................................................................... 758
P-0-1665, CCD: drive status word, slave 5..................................................................................... 758
P-0-1666, CCD: drive status word, slave 6..................................................................................... 759
P-0-1667, CCD: drive status word, slave 7..................................................................................... 759

XXVI/XXXVBosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.11.65
4.11.66
4.11.67
4.11.68
4.11.69
4.11.70
4.11.71
4.11.72
4.11.73
4.11.74
4.11.75
4.11.76
4.11.77
4.11.78
4.11.79
4.11.80
4.11.81
4.11.82
4.11.83
4.11.84
4.11.85
4.11.86
4.11.87
4.11.88
4.11.89
4.11.90
4.11.91
4.11.92
4.11.93
4.11.94
4.11.95
4.11.96
4.11.97
4.11.98
4.11.99
4.11.100
4.11.101
4.11.102
4.11.103
4.11.104
4.11.105
4.11.106
4.11.107
4.11.108
4.11.109
4.11.110

P-0-1668, CCD: drive status word, slave 8..................................................................................... 759


P-0-1669, CCD: drive status word, slave 9..................................................................................... 760
P-0-1670, CCD: active actual position value, master...................................................................... 760
P-0-1671, CCD: active actual position value, slave 1...................................................................... 760
P-0-1672, CCD: active actual position value, slave 2...................................................................... 761
P-0-1673, CCD: active actual position value, slave 3...................................................................... 761
P-0-1674, CCD: active actual position value, slave 4...................................................................... 762
P-0-1675, CCD: active actual position value, slave 5...................................................................... 762
P-0-1676, CCD: active actual position value, slave 6...................................................................... 763
P-0-1677, CCD: active actual position value, slave 7...................................................................... 763
P-0-1678, CCD: active actual position value, slave 8...................................................................... 763
P-0-1679, CCD: active actual position value, slave 9...................................................................... 764
P-0-1680, CCD: actual velocity value, master................................................................................. 764
P-0-1681, CCD: actual velocity value, slave 1................................................................................ 765
P-0-1682, CCD: actual velocity value, slave 2................................................................................ 765
P-0-1683, CCD: actual velocity value, slave 3................................................................................ 766
P-0-1684, CCD: actual velocity value, slave 4................................................................................ 766
P-0-1685, CCD: actual velocity value, slave 5................................................................................ 766
P-0-1686, CCD: actual velocity value, slave 6................................................................................ 767
P-0-1687, CCD: actual velocity value, slave 7................................................................................ 767
P-0-1688, CCD: actual velocity value, slave 8................................................................................ 768
P-0-1689, CCD: actual velocity value, slave 9................................................................................ 768
P-0-1690, CCD: actual torque/force value, master.......................................................................... 768
P-0-1691, CCD: actual torque/force value, slave 1......................................................................... 769
P-0-1692, CCD: actual torque/force value, slave 2......................................................................... 769
P-0-1693, CCD: actual torque/force value, slave 3......................................................................... 770
P-0-1694, CCD: actual torque/force value, slave 4......................................................................... 770
P-0-1695, CCD: actual torque/force value, slave 5......................................................................... 770
P-0-1696, CCD: actual torque/force value, slave 6......................................................................... 771
P-0-1697, CCD: actual torque/force value, slave 7......................................................................... 771
P-0-1698, CCD: actual torque/force value, slave 8......................................................................... 772
P-0-1699, CCD: actual torque/force value, slave 9......................................................................... 772
P-0-1701, CCD: diagnostic message number slave 1..................................................................... 772
P-0-1702, CCD: diagnostic message number slave 2..................................................................... 773
P-0-1703, CCD: diagnostic message number slave 3..................................................................... 773
P-0-1704, CCD: diagnostic message number slave 4..................................................................... 774
P-0-1705, CCD: diagnostic message number slave 5..................................................................... 774
P-0-1706, CCD: diagnostic message number slave 6..................................................................... 775
P-0-1707, CCD: diagnostic message number slave 7..................................................................... 775
P-0-1708, CCD: diagnostic message number slave 8..................................................................... 775
P-0-1709, CCD: diagnostic message number slave 9..................................................................... 776
P-0-1710, CCD: signal status word, master.................................................................................... 776
P-0-1711, CCD: signal status word, slave 1.................................................................................... 777
P-0-1712, CCD: signal status word, slave 2.................................................................................... 777
P-0-1713, CCD: signal status word, slave 3.................................................................................... 778
P-0-1714, CCD: signal status word, slave 4.................................................................................... 778

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


XXVII/XXXV
and Controls

Table of Contents
Page
4.11.111
4.11.112
4.11.113
4.11.114
4.11.115
4.11.116
4.11.117
4.11.118
4.11.119
4.11.120
4.11.121
4.11.122
4.11.123
4.11.124
4.11.125
4.11.126
4.11.127
4.11.128
4.11.129
4.11.130
4.11.131
4.11.132
4.11.133
4.11.134
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4.11.136
4.11.137
4.11.138
4.11.139
4.11.140
4.11.141
4.11.142
4.11.143
4.11.144
4.11.145
4.11.146
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4.11.148
4.11.149
4.11.150
4.11.151
4.11.152
4.11.153
4.11.154
4.11.155
4.11.156

P-0-1715, CCD: signal status word, slave 5.................................................................................... 778


P-0-1716, CCD: signal status word, slave 6.................................................................................... 779
P-0-1717, CCD: signal status word, slave 7.................................................................................... 779
P-0-1718, CCD: signal status word, slave 8.................................................................................... 780
P-0-1719, CCD: signal status word, slave 9.................................................................................... 780
P-0-1720, CCD: signal control word, master................................................................................... 780
P-0-1721, CCD: signal control word, slave 1................................................................................... 781
P-0-1722, CCD: signal control word, slave 2................................................................................... 781
P-0-1723, CCD: signal control word, slave 3................................................................................... 782
P-0-1724, CCD: signal control word, slave 4................................................................................... 782
P-0-1725, CCD: signal control word, slave 5................................................................................... 783
P-0-1726, CCD: signal control word, slave 6................................................................................... 783
P-0-1727, CCD: signal control word, slave 7................................................................................... 783
P-0-1728, CCD: signal control word, slave 8................................................................................... 784
P-0-1729, CCD: signal control word, slave 9................................................................................... 784
P-0-1730, CCD: MDT real-time container 1, master....................................................................... 785
P-0-1731, CCD: MDT real-time container 1, slave 1....................................................................... 785
P-0-1732, CCD: MDT real-time container 1, slave 2....................................................................... 786
P-0-1733, CCD: MDT real-time container 1, slave 3....................................................................... 786
P-0-1734, CCD: MDT real-time container 1, slave 4....................................................................... 786
P-0-1735, CCD: MDT real-time container 1, slave 5....................................................................... 787
P-0-1736, CCD: MDT real-time container 1, slave 6....................................................................... 787
P-0-1737, CCD: MDT real-time container 1, slave 7....................................................................... 788
P-0-1738, CCD: MDT real-time container 1, slave 8....................................................................... 788
P-0-1739, CCD: MDT real-time container 1, slave 9....................................................................... 788
P-0-1740, CCD: MDT real-time container 2, master....................................................................... 789
P-0-1741, CCD: MDT real-time container 2, slave 1....................................................................... 789
P-0-1742, CCD: MDT real-time container 2, slave 2....................................................................... 790
P-0-1743, CCD: MDT real-time container 2, slave 3....................................................................... 790
P-0-1744, CCD: MDT real-time container 2, slave 4....................................................................... 791
P-0-1745, CCD: MDT real-time container 2, slave 5....................................................................... 791
P-0-1746, CCD: MDT real-time container 2, slave 6....................................................................... 791
P-0-1747, CCD: MDT real-time container 2, slave 7....................................................................... 792
P-0-1748, CCD: MDT real-time container 2, slave 8....................................................................... 792
P-0-1749, CCD: MDT real-time container 2, slave 9....................................................................... 793
P-0-1750, CCD: MDT real-time container 3, master....................................................................... 793
P-0-1751, CCD: MDT real-time container 3, slave 1....................................................................... 793
P-0-1752, CCD: MDT real-time container 3, slave 2....................................................................... 794
P-0-1753, CCD: MDT real-time container 3, slave 3....................................................................... 794
P-0-1754, CCD: MDT real-time container 3, slave 4....................................................................... 795
P-0-1755, CCD: MDT real-time container 3, slave 5....................................................................... 795
P-0-1756, CCD: MDT real-time container 3, slave 6....................................................................... 796
P-0-1757, CCD: MDT real-time container 3, slave 7....................................................................... 796
P-0-1758, CCD: MDT real-time container 3, slave 8....................................................................... 796
P-0-1759, CCD: MDT real-time container 3, slave 9....................................................................... 797
P-0-1760, CCD: MDT real-time container 4, master....................................................................... 797

XXVIII/XXXV
Bosch Rexroth AG | Electric Drives
and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.11.157
4.11.158
4.11.159
4.11.160
4.11.161
4.11.162
4.11.163
4.11.164
4.11.165
4.11.166
4.11.167
4.11.168
4.11.169
4.11.170
4.11.171
4.11.172
4.11.173
4.11.174
4.11.175
4.11.176
4.11.177
4.11.178
4.11.179
4.11.180
4.11.181
4.11.182
4.11.183
4.11.184
4.11.185
4.11.186
4.11.187
4.11.188
4.11.189
4.11.190
4.11.191
4.11.192
4.11.193
4.11.194
4.11.195
4.11.196
4.11.197
4.11.198
4.11.199
4.11.200
4.11.201
4.11.202

P-0-1761, CCD: MDT real-time container 4, slave 1....................................................................... 798


P-0-1762, CCD: MDT real-time container 4, slave 2....................................................................... 798
P-0-1763, CCD: MDT real-time container 4, slave 3....................................................................... 799
P-0-1764, CCD: MDT real-time container 4, slave 4....................................................................... 799
P-0-1765, CCD: MDT real-time container 4, slave 5....................................................................... 799
P-0-1766, CCD: MDT real-time container 4, slave 6....................................................................... 800
P-0-1767, CCD: MDT real-time container 4, slave 7....................................................................... 800
P-0-1768, CCD: MDT real-time container 4, slave 8....................................................................... 801
P-0-1769, CCD: MDT real-time container 4, slave 9....................................................................... 801
P-0-1770, CCD: AT real-time container 1, master........................................................................... 801
P-0-1771, CCD: AT real-time container 1, slave 1.......................................................................... 802
P-0-1772, CCD: AT real-time container 1, slave 2.......................................................................... 802
P-0-1773, CCD: AT real-time container 1, slave 3.......................................................................... 803
P-0-1774, CCD: AT real-time container 1, slave 4.......................................................................... 803
P-0-1775, CCD: AT real-time container 1, slave 5.......................................................................... 804
P-0-1776, CCD: AT real-time container 1, slave 6.......................................................................... 804
P-0-1777, CCD: AT real-time container 1, slave 7.......................................................................... 804
P-0-1778, CCD: AT real-time container 1, slave 8.......................................................................... 805
P-0-1779, CCD: AT real-time container 1, slave 9.......................................................................... 805
P-0-1780, CCD: AT real-time container 2, master........................................................................... 806
P-0-1781, CCD: AT real-time container 2, slave 1.......................................................................... 806
P-0-1782, CCD: AT real-time container 2, slave 2.......................................................................... 807
P-0-1783, CCD: AT real-time container 2, slave 3.......................................................................... 807
P-0-1784, CCD: AT real-time container 2, slave 4.......................................................................... 807
P-0-1785, CCD: AT real-time container 2, slave 5.......................................................................... 808
P-0-1786, CCD: AT real-time container 2, slave 6.......................................................................... 808
P-0-1787, CCD: AT real-time container 2, slave 7.......................................................................... 809
P-0-1788, CCD: AT real-time container 2, slave 8.......................................................................... 809
P-0-1789, CCD: AT real-time container 2, slave 9.......................................................................... 809
P-0-1790, CCD: AT real-time container 3, master........................................................................... 810
P-0-1791, CCD: AT real-time container 3, slave 1.......................................................................... 810
P-0-1792, CCD: AT real-time container 3, slave 2.......................................................................... 811
P-0-1793, CCD: AT real-time container 3, slave 3.......................................................................... 811
P-0-1794, CCD: AT real-time container 3, slave 4.......................................................................... 812
P-0-1795, CCD: AT real-time container 3, slave 5.......................................................................... 812
P-0-1796, CCD: AT real-time container 3, slave 6.......................................................................... 812
P-0-1797, CCD: AT real-time container 3, slave 7.......................................................................... 813
P-0-1798, CCD: AT real-time container 3, slave 8.......................................................................... 813
P-0-1799, CCD: AT real-time container 3, slave 9.......................................................................... 814
P-0-1800, CCD: AT real-time container 4, master........................................................................... 814
P-0-1801, CCD: AT real-time container 4, slave 1.......................................................................... 814
P-0-1802, CCD: AT real-time container 4, slave 2.......................................................................... 815
P-0-1803, CCD: AT real-time container 4, slave 3.......................................................................... 815
P-0-1804, CCD: AT real-time container 4, slave 4.......................................................................... 816
P-0-1805, CCD: AT real-time container 4, slave 5.......................................................................... 816
P-0-1806, CCD: AT real-time container 4, slave 6.......................................................................... 817

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AGXXIX/XXXV


and Controls

Table of Contents
Page
4.11.203 P-0-1807, CCD: AT real-time container 4, slave 7.......................................................................... 817
4.11.204 P-0-1808, CCD: AT real-time container 4, slave 8.......................................................................... 817
4.11.205 P-0-1809, CCD: AT real-time container 4, slave 9.......................................................................... 818
4.11.206 P-0-1810, CCD: status word synchronous operating modes, master............................................. 818
4.11.207 P-0-1811, CCD: status word synchronous operating modes, slave 1............................................. 819
4.11.208 P-0-1812, CCD: status word synchronous operating modes, slave 2............................................. 819
4.11.209 P-0-1813, CCD: status word synchronous operating modes, slave 3............................................. 820
4.11.210 P-0-1814, CCD: status word synchronous operating modes, slave 4............................................. 820
4.11.211 P-0-1815, CCD: status word synchronous operating modes, slave 5............................................. 820
4.11.212 P-0-1816, CCD: status word synchronous operating modes, slave 6............................................. 821
4.11.213 P-0-1817, CCD: status word synchronous operating modes, slave 7............................................. 821
4.11.214 P-0-1818, CCD: status word synchronous operating modes, slave 8............................................. 822
4.11.215 P-0-1819, CCD: status word synchronous operating modes, slave 9............................................. 822
4.11.216 P-0-1843, SERCOS III: error counter Port-1................................................................................... 822
4.11.217 P-0-1844, SERCOS III: error counter Port-2................................................................................... 823
4.11.218 P-0-1845, CC: basic parameters..................................................................................................... 824
4.11.219 P-0-1846, CC: connection #1.......................................................................................................... 824
4.11.220 P-0-1847, CC: connection #2.......................................................................................................... 825
4.11.221 P-0-1848, CC: connection #3.......................................................................................................... 825
4.11.222 P-0-1849, CC: connection #4.......................................................................................................... 826
4.12
P-0-2000 - P-0-2999 General Device Parameters.............................................................................. 826
4.12.1
P-0-2002, Oper. hours of contr. sect. at change of functional packages......................................... 826
4.12.2
P-0-2003, Selection of functional packages.................................................................................... 827
4.12.3
P-0-2004, Active functional packages............................................................................................. 827
4.12.4
P-0-2051, Operating hours counter, motor...................................................................................... 828
4.12.5
P-0-2052, Thermal operating data, motor....................................................................................... 829
4.12.6
P-0-2053, Mechanical operating data, motor.................................................................................. 830
4.12.7
P-0-2054, Operational performance, motor..................................................................................... 831
4.12.8
P-0-2055, Serial number, motor...................................................................................................... 831
4.12.9
P-0-2100, Velocity loop proportional gain, encoder memory........................................................... 832
4.12.10
P-0-2101, Velocity loop integral-action time, encoder memory....................................................... 832
4.12.11
P-0-2104, Position loop Kv-factor, encoder memory....................................................................... 833
4.12.12
P-0-2106, Current loop proportional gain 1, encoder memory........................................................ 833
4.12.13
P-0-2107, Current loop integral-action time 1, encoder memory..................................................... 834
4.12.14
P-0-2109, Motor peak current, encoder memory............................................................................. 834
4.12.15
P-0-2111, Motor current at standstill, encoder memory.................................................................. 835
4.12.16
P-0-2113, Maximum velocity of motor, encoder memory................................................................ 835
4.12.17
P-0-2141, Motor type, encoder memory.......................................................................................... 836
4.12.18
P-0-2204, Motor shutdown temperature, encoder memory............................................................. 836
4.12.19
P-0-2206, Drive On delay time, encoder memory........................................................................... 837
4.12.20
P-0-2207, Drive Off delay time, encoder memory........................................................................... 837
4.12.21
P-0-2216, Parameter set switching, configuration........................................................................... 837
4.12.22
P-0-2217, Parameter set switching, preselection range.................................................................. 839
4.12.23
P-0-2218, Parameter set switching, delay time............................................................................... 840
4.13
P-0-3000 - P-03199 Encoder Memory................................................................................................ 840
4.13.1
P-0-3000, Module code of motor, encoder memory........................................................................ 840

XXX/XXXVBosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.13.2
P-0-3001, Encoder type 1 (motor encoder), encoder memory........................................................ 841
4.13.3
P-0-3002, Number of pole pairs/pole pair distance, encoder memory............................................ 842
4.13.4
P-0-3003, Rotor inertia, encoder memory....................................................................................... 842
4.13.5
P-0-3004, Speed loop smoothing time constant, encoder memory................................................. 842
4.13.6
P-0-3005, Torque/force constant, encoder memory........................................................................ 843
4.13.7
P-0-3006, Rated motor speed, encoder memory............................................................................ 843
4.13.8
P-0-3007, Stator resistance, encoder memory................................................................................ 844
4.13.9
P-0-3008, Commutation offset, encoder memory............................................................................ 844
4.13.10
P-0-3009, Holding brake control word, encoder memory................................................................ 845
4.13.11
P-0-3010, Torque of motor holding brake, encoder memory........................................................... 845
4.13.12
P-0-3011, Holding brake current, encoder memory........................................................................ 846
4.13.13
P-0-3012, Temperature sensor, encoder memory.......................................................................... 846
4.13.14
P-0-3014, Magnetizing current, encoder memory........................................................................... 847
4.13.15
P-0-3015, Flux-generating current, limit value, encoder memory.................................................... 847
4.13.16
P-0-3016, Direct-axis inductance of motor, encoder memory......................................................... 847
4.13.17
P-0-3017, Quadrature-axis inductance of motor, encoder memory................................................ 848
4.13.18
P-0-3018, Charact. quadr.-axis induct. of motor, induct., enc. Memory.......................................... 848
4.13.19
P-0-3019, Charact. quadr.-axis induct. of motor, currents, enc. Memory........................................ 849
4.13.20
P-0-3020, Thermal time constant of winding, encoder memory...................................................... 849
4.13.21
P-0-3021, Thermal time constant of motor, encoder memory......................................................... 850
4.13.22
P-0-3022, Thermal short-time overload of winding, encoder memory............................................. 850
4.13.23
P-0-3023, Current limit value of demagnetization, encoder memory.............................................. 851
4.13.24
P-0-3025, Brake voltage, encoder memory..................................................................................... 851
4.13.25
P-0-3028, Flux loop proportional gain, encoder memory................................................................ 851
4.13.26
P-0-3029, Scaling of stall current limit, encoder memory................................................................ 852
4.13.27
P-0-3032, Premagnetization factor, encoder memory..................................................................... 852
4.13.28
P-0-3033, Voltage loop proportional gain, encoder memory........................................................... 853
4.13.29
P-0-3034, Voltage loop intergral action time, encoder memory...................................................... 853
4.13.30
P-0-3035, Motor voltage at no load, encoder memory.................................................................... 854
4.13.31
P-0-3036, Maximum motor voltage, encoder memory.................................................................... 854
4.13.32
P-0-3039, Stator leakage inductance, encoder memory................................................................. 855
4.13.33
P-0-3040, Rotor leakage inductance, encoder memory.................................................................. 855
4.13.34
P-0-3041, Motor magnetizing inductance, encoder memory........................................................... 855
4.13.35
P-0-3042, Characteristic of motor magnetizing inductance, encoder mem..................................... 856
4.13.36
P-0-3043, Rotor time constant, encoder memory............................................................................ 856
4.13.37
P-0-3050, Motor inductance, encoder memory............................................................................... 857
4.13.38
P-0-3051, Encoder memory, operating hours counter, motor......................................................... 857
4.13.39
P-0-3052, Encoder memory, thermal operating data, motor........................................................... 858
4.13.40
P-0-3053, Encoder memory, mechanical operating data, motor..................................................... 859
4.13.41
P-0-3100, Version of data structure in encoder memory................................................................. 860
4.14
P-0-3200 - P-0-3599 Safety Technology............................................................................................ 861
4.14.1
P-0-3200, Safety technology firmware code.................................................................................... 861
4.14.2
P-0-3201, Change counter of safety technology memory............................................................... 862
4.14.3
P-0-3202, Operating hours at last change of memory..................................................................... 862
4.14.4
P-0-3203, Memory image of safety technology memory................................................................. 862
4.14.5
P-0-3204, C3000 Synchronize and store safety technology IDN command................................... 863

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AGXXXI/XXXV


and Controls

Table of Contents
Page
4.14.6
4.14.7
4.14.8
4.14.9
4.14.10
4.14.11
4.14.12
4.14.13
4.14.14
4.14.15
4.14.16
4.14.17
4.14.18
4.14.19
4.14.20
4.14.21
4.14.22
4.14.23
4.14.24
4.14.25
4.14.26
4.14.27
4.14.28
4.14.29
4.14.30
4.14.31
4.14.32
4.14.33
4.14.34
4.14.35
4.14.36
4.14.37
4.14.38
4.14.39
4.14.40
4.14.41
4.14.42
4.14.43
4.14.44
4.14.45
4.14.46
4.14.47
4.14.48
4.14.49
4.14.50
4.14.51

P-0-3205, Safety technology device identifier................................................................................. 863


P-0-3206, Safety technology password........................................................................................... 864
P-0-3207, Safety technology password level.................................................................................. 865
P-0-3208, Backup of safety techn. data channel 2.......................................................................... 866
P-0-3209, Safety technology commissioning identifier.................................................................... 867
P-0-3210, Safety technology configuration...................................................................................... 867
P-0-3211, Safety technology I/O configuration list, channel 2......................................................... 870
P-0-3212, Safety technology control word, channel 1..................................................................... 870
P-0-3213, Safety technology operating status................................................................................. 872
P-0-3214, Safety technology status word, channel 1...................................................................... 873
P-0-3215, Selected safety technology operating status.................................................................. 874
P-0-3216, Active safety technology signals..................................................................................... 874
P-0-3217, I/O status channel 2 (optional safety technology module).............................................. 875
P-0-3218, C3700 Manually unlocking the safety door..................................................................... 876
P-0-3219, Diagnostic safety technology message.......................................................................... 877
P-0-3220, Tolerance time transition from normal operation............................................................ 877
P-0-3221, Max. tolerance time for different channel states............................................................. 878
P-0-3222, Max. activation time of enabling control.......................................................................... 878
P-0-3223, Time interval for dynamization of safety function selection............................................ 879
P-0-3224, Duration of dynamization pulse of safety function selection........................................... 880
P-0-3225, Tolerance time transition from safety rel. oper............................................................... 881
P-0-3226, NC delay trend monitoring.............................................................................................. 881
P-0-3228, C4000 Homing procedure command channel 2............................................................. 882
P-0-3229, Tolerance window for safety related homing procedure................................................. 883
P-0-3230, Monitoring window for safety related operational stop.................................................... 883
P-0-3231, Reference position for safety related reference.............................................................. 884
P-0-3232, Standstill window for safety related direction of motion.................................................. 884
P-0-3233, Velocity threshold for safety related halt......................................................................... 885
P-0-3234, Safety related maximum speed...................................................................................... 886
P-0-3235, Safety related end position, positive............................................................................... 886
P-0-3236, Safety related end position, negative.............................................................................. 887
P-0-3237, Safety technology absolute offset................................................................................... 888
P-0-3238, Extended safety technology status................................................................................. 889
P-0-3239, Configuration of global safety technology functions....................................................... 889
P-0-3240, Configuration of safety related motion 1......................................................................... 890
P-0-3241, Safety related limited absolute position 1, positive......................................................... 891
P-0-3242, Safety related limited absolute position 1, negative........................................................ 892
P-0-3243, Safety related limited increment 1.................................................................................. 892
P-0-3244, Safety related reduced speed 1...................................................................................... 893
P-0-3245, Safety related deceleration/acceleration ramp 1............................................................ 893
P-0-3246, Max. activation time of enabling control 1....................................................................... 894
P-0-3250, Configuration of safety related motion 2......................................................................... 895
P-0-3251, Safety related limited absolute position 2, positive......................................................... 895
P-0-3252, Safety related limited absolute position 2, negative........................................................ 896
P-0-3253, Safety related limited increment 2.................................................................................. 897
P-0-3254, Safety related reduced speed 2...................................................................................... 897

XXXII/XXXV
Bosch Rexroth AG | Electric Drives
and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.14.52
P-0-3255, Safety related deceleration/acceleration ramp 2............................................................ 898
4.14.53
P-0-3256, Max. activation time of enabling control 2....................................................................... 898
4.14.54
P-0-3260, Configuration of safety related motion 3......................................................................... 899
4.14.55
P-0-3263, Safety related limited increment 3.................................................................................. 900
4.14.56
P-0-3264, Safety related reduced speed 3...................................................................................... 900
4.14.57
P-0-3265, Safety related deceleration/acceleration ramp 3............................................................ 901
4.14.58
P-0-3266, Max. activation time of enabling control 3....................................................................... 901
4.14.59
P-0-3270, Configuration of safety related motion 4......................................................................... 902
4.14.60
P-0-3273, Safety related limited increment 4.................................................................................. 903
4.14.61
P-0-3274, Safety related reduced speed 4...................................................................................... 903
4.14.62
P-0-3275, Safety related deceleration/acceleration ramp 4............................................................ 904
4.14.63
P-0-3276, Max. activation time of enabling control 4....................................................................... 904
4.14.64
P-0-3280, Actual position value, channel 2..................................................................................... 905
4.14.65
P-0-3281, Actual velocity value, channel 2...................................................................................... 906
4.14.66
P-0-3282, Safety related monitored deceleration............................................................................ 906
4.14.67
P-0-3290, PROFIsafe: F_Destination_Address............................................................................... 907
4.14.68
P-0-3291, PROFIsafe: F_Source_Address...................................................................................... 908
4.14.69
P-0-3292, PROFIsafe: F_Parameters............................................................................................. 908
4.14.70
P-0-3295, Safety technology field bus configuration....................................................................... 909
4.14.71
P-0-3296, Safety technology field bus control word........................................................................ 910
4.14.72
P-0-3297, Safety technology field bus status word......................................................................... 911
4.14.73
P-0-3300, Redundant holding brake: configuration......................................................................... 912
4.14.74
P-0-3301, Redundant holding brake: status word........................................................................... 912
4.14.75
P-0-3302, Safety related holding system: time interval brake check............................................... 914
4.14.76
P-0-3303, Safety related holding system: nominal load.................................................................. 914
4.14.77
P-0-3304, Safety related holding system: torque/force constant..................................................... 915
4.14.78
P-0-3306, Delay time motor holding brake...................................................................................... 915
4.14.79
P-0-3307, Safety technology - drive off delay time.......................................................................... 916
4.14.80
P-0-3310, Safety related holding system: travel range brake check............................................... 916
4.14.81
P-0-3311, Safety rel. hold. sys.: dur. test torque injection br. check............................................... 917
4.14.82
P-0-3313, C5800 Command Apply redundant holding brake.......................................................... 917
4.14.83
P-0-3314, C5900 Command Abrasion of redundant holding brake................................................. 918
4.15
P-0-3600 - P-0-4067 General Device Parameters.............................................................................. 918
4.15.1
P-0-3600, Master communication: software version....................................................................... 918
4.15.2
P-0-3601, Master communication: station name............................................................................. 919
4.15.3
P-0-3602, Master communication: station type............................................................................... 920
4.15.4
P-0-3610, CANopen: Heartbeat/NodeGuard Configuration............................................................ 920
4.15.5
P-0-3611, CANopen: COB-IDs........................................................................................................ 921
4.15.6
P-0-3612, CANopen: Transmission Types...................................................................................... 922
4.15.7
P-0-3613, CANopen: List of the Event Parameters......................................................................... 922
4.15.8
P-0-3900, Command values for control section adjust.................................................................... 923
4.15.9
P-0-3901, Adjust values of control section...................................................................................... 923
4.15.10
P-0-3902, Command values for power section adjust..................................................................... 924
4.15.11
P-0-3903, Adjust values of power section....................................................................................... 924
4.15.12
P-0-3904, Adjust values analog I/O interface 3-4............................................................................ 925
4.15.13
P-0-3905, Adjust values analog I/O interface 5-6............................................................................ 925

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


XXXIII/XXXV
and Controls

Table of Contents
Page
4.15.14
4.15.15
4.15.16
4.15.17
4.15.18
4.15.19
4.15.20
4.15.21
4.15.22
4.15.23
4.15.24
4.15.25
4.15.26
4.15.27
4.15.28
4.15.29
4.15.30
4.15.31
4.15.32
4.15.33
4.15.34
4.15.35
4.15.36
4.15.37
4.15.38
4.15.39
4.15.40
4.15.41
4.15.42
4.15.43
4.15.44
4.15.45
4.15.46
4.15.47
4.15.48
4.15.49
4.15.50
4.15.51
4.15.52
4.15.53
4.15.54
4.15.55
4.15.56
4.15.57
4.15.58
4.15.59

P-0-3906, Adjust values analog inputs interface 3-6....................................................................... 926


P-0-3972, FOCsl: estimated angle.................................................................................................. 926
P-0-3973, FOCsl: correction angle.................................................................................................. 926
P-0-3974, FOCsl: encoder angle..................................................................................................... 927
P-0-3975, FOCsl: control deviation................................................................................................. 927
P-0-3980, FOCsl: configuration word.............................................................................................. 928
P-0-3981, FOCsl: motor model configuration.................................................................................. 928
P-0-3982, FOCsl: carrier signal configuration................................................................................. 928
P-0-4002, Charact. of quadrature-axis induct. of motor, inductances............................................. 929
P-0-4003, Charact. of quadrature-axis inductance of motor, currents............................................. 930
P-0-4004, Magnetizing current........................................................................................................ 932
P-0-4005, Flux-generating current, limit value................................................................................. 932
P-0-4006, Positioning block target position..................................................................................... 933
P-0-4007, Positioning block velocity................................................................................................ 934
P-0-4008, Positioning block acceleration........................................................................................ 934
P-0-4009, Positioning block jerk...................................................................................................... 935
P-0-4010, Load inertia..................................................................................................................... 935
P-0-4013, Current limit value of demagnetization........................................................................... 936
P-0-4014, Type of construction of motor......................................................................................... 937
P-0-4016, Direct-axis inductance of motor...................................................................................... 939
P-0-4017, Quadrature-axis inductance of motor............................................................................. 940
P-0-4018, Positioning block mode delay time................................................................................. 941
P-0-4019, Positioning block mode................................................................................................... 941
P-0-4021, Baud rate RS-232/485.................................................................................................... 942
P-0-4022, Drive address of serial interface..................................................................................... 943
P-0-4023, C0400 Communication phase 2 transition...................................................................... 944
P-0-4024, IDN list cyclic parameter display..................................................................................... 944
P-0-4025, Drive address of master communication........................................................................ 944
P-0-4026, Positioning block selection.............................................................................................. 945
P-0-4027, Transmission length SERCOS interface......................................................................... 946
P-0-4028, Device control word........................................................................................................ 946
P-0-4029, Diagnostic report SCSB module..................................................................................... 947
P-0-4031, Overview of device addresses........................................................................................ 948
P-0-4032, Motor type plate data...................................................................................................... 949
P-0-4033, C3200 Command Calculate motor data......................................................................... 950
P-0-4034, Thermal time constant of winding................................................................................... 951
P-0-4035, Thermal time constant of motor...................................................................................... 952
P-0-4036, Rated motor speed......................................................................................................... 953
P-0-4037, Thermal short-time overload of winding.......................................................................... 954
P-0-4039, Stator leakage inductance.............................................................................................. 954
P-0-4040, Rotor leakage inductance............................................................................................... 955
P-0-4041, Motor magnetizing inductance........................................................................................ 956
P-0-4042, Characteristic of motor magnetizing inductance............................................................. 957
P-0-4043, Rotor time constant......................................................................................................... 958
P-0-4045, Maximum possible continuous current........................................................................... 959
P-0-4046, Effective peak current..................................................................................................... 959

XXXIV/XXXV
Bosch Rexroth AG | Electric Drives
and Controls

Rexroth IndraDrive | Parameter Description

Table of Contents
Page
4.15.60
P-0-4048, Stator resistance............................................................................................................. 960
4.15.61
P-0-4050, Answer delay RS-232/485.............................................................................................. 961
4.15.62
P-0-4051, Positioning block acknowledgment................................................................................. 961
4.15.63
P-0-4052, Positioning block, last accepted...................................................................................... 962
4.15.64
P-0-4053, Positioning block, last active........................................................................................... 962
4.15.65
P-0-4054, C5400 Command Save PLC retain data on MMC.......................................................... 962
4.15.66
P-0-4055, C5500 Command Load PLC retain data from MMC....................................................... 963
4.15.67
P-0-4057, Positioning block, input linked blocks............................................................................. 963
4.15.68
P-0-4058, Amplifier type data.......................................................................................................... 964
4.15.69
P-0-4059, Electric type data of power section................................................................................. 964
4.15.70
P-0-4060, Positioning block control word........................................................................................ 964
4.15.71
P-0-4061, Positioning block status word......................................................................................... 965
4.15.72
P-0-4063, Positioning block deceleration........................................................................................ 966
4.15.73
P-0-4064, Password level................................................................................................................ 966
4.15.74
P-0-4065, Non-volatile memory active............................................................................................ 967
4.15.75
P-0-4066, MMC identification number (CID)................................................................................... 968
4.15.76
P-0-4067, Project identification........................................................................................................ 968
4.16
P-0-4068 - P-0-4095 Field Bus and Serial Communication................................................................ 969
4.16.1
P-0-4068, Field bus: control word IO............................................................................................... 969
4.16.2
P-0-4069, Field bus: module diagnosis........................................................................................... 971
4.16.3
P-0-4070, Parameter storage configuration.................................................................................... 971
4.16.4
P-0-4071, Field bus: length of cyclic command value data channel................................................ 972
4.16.5
P-0-4072, C2900 Command Firmware update from MMC.............................................................. 973
4.16.6
P-0-4073, Field bus: diagnostic message....................................................................................... 973
4.16.7
P-0-4074, Field bus: data format..................................................................................................... 976
4.16.8
P-0-4075, Field bus: watchdog........................................................................................................ 977
4.16.9
P-0-4076, Field bus: cycle time (Tcyc)............................................................................................ 977
4.16.10
P-0-4077, Field bus: control word.................................................................................................... 978
4.16.11
P-0-4078, Field bus: status word..................................................................................................... 980
4.16.12
P-0-4079, Field bus: baud rate........................................................................................................ 982
4.16.13
P-0-4080, Field bus: config. list of cyclic actual value data ch........................................................ 983
4.16.14
P-0-4081, Field bus: config. list of cyclic command value data ch.................................................. 983
4.16.15
P-0-4082, Field bus: length of cyclic actual value data channel...................................................... 984
4.16.16
P-0-4083, Field bus: length of parameter channel.......................................................................... 985
4.16.17
P-0-4084, Field bus: profile type...................................................................................................... 985
4.16.18
P-0-4085, Command Activate easy startup mode........................................................................... 986
4.16.19
P-0-4086, Master communication status......................................................................................... 987
4.16.20
P-0-4087, Baud rate SERCOS interface......................................................................................... 987
4.16.21
P-0-4088, Master communication, configuration............................................................................. 988
4.16.22
P-0-4090, Configuration for loading default values......................................................................... 990
4.16.23
P-0-4091, C2500 Copy IDN from optional memory to internal memory.......................................... 993
4.16.24
P-0-4092, C2600 Copy IDN from internal memory to optional memory.......................................... 993
4.16.25
P-0-4095, RS-232/485 Parity.......................................................................................................... 994

5
5.1

Appendix.................................................................................................................... 995
Field Bus Objects................................................................................................................................ 995

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


XXXV/XXXV
and Controls

Table of Contents
Page
5.1.1

6
6.1
6.2
6.3
6.4

CANopen Interface.......................................................................................................................... 995


Specified CANopen Communication Objects (0x1000 to 0x1FFF).............................................. 995
Other CANopen Communication Objects..................................................................................... 995

Service and Support.................................................................................................. 997


Helpdesk............................................................................................................................................. 997
Service Hotline.................................................................................................................................... 997
Internet................................................................................................................................................ 997
Helpful Information.............................................................................................................................. 997

Index.......................................................................................................................... 999

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

1/1033

Safety Instructions for Electric Drives and Controls

Safety Instructions for Electric Drives and Controls

1.1

Safety Instructions - General Information

1.1.1

Using the Safety Instructions and Passing them on to Others


Do not attempt to install or commission this device without first reading all doc
umentation provided with the product. Read and understand these safety
instructions and all user documentation prior to working with the device. If you
do not have the user documentation for the device, contact your responsible
Bosch Rexroth sales representative. Ask for these documents to be sent im
mediately to the person or persons responsible for the safe operation of the
device.
If the device is resold, rented and/or passed on to others in any other form,
these safety instructions must be delivered with the device in the official lan
guage of the user's country.

WARNING

1.1.2

Improper use of these devices, failure to follow the safety instructions in


this document or tampering with the product, including disabling of safe
ty devices, may result in material damage, bodily harm, electric shock
or even death!
Observe the safety instructions!

How to Employ the Safety Instructions


Read these instructions before initial commissioning of the equipment in order
to eliminate the risk of bodily harm and/or material damage. Follow these safety
instructions at all times.

Bosch Rexroth AG is not liable for damages resulting from failure to ob


serve the warnings provided in this documentation.

Read the operating, maintenance and safety instructions in your language


before commissioning the machine. If you find that you cannot completely
understand the documentation for your product, please ask your supplier
to clarify.

Proper and correct transport, storage, assembly and installation, as well


as care in operation and maintenance, are prerequisites for optimal and
safe operation of this device.

Only assign trained and qualified persons to work with electrical installa
tions:

Only persons who are trained and qualified for the use and operation
of the device may work on this device or within its proximity. The
persons are qualified if they have sufficient knowledge of the assem
bly, installation and operation of the product, as well as an under
standing of all warnings and precautionary measures noted in these
instructions.

Furthermore, they must be trained, instructed and qualified to switch


electrical circuits and devices on and off in accordance with technical
safety regulations, to ground them and to mark them according to the
requirements of safe work practices. They must have adequate safe
ty equipment and be trained in first aid.

Only use spare parts and accessories approved by the manufacturer.

2/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Safety Instructions for Electric Drives and Controls

Follow all safety regulations and requirements for the specific application
as practiced in the country of use.

The devices have been designed for installation in industrial machinery.

The ambient conditions given in the product documentation must be ob


served.

Only use safety-relevant applications that are clearly and explicitly ap


proved in the Project Planning Manual. If this is not the case, they are
excluded. Safety-relevant are all such applications which can cause dan
ger to persons and material damage.

The information given in the documentation of the product with regard to


the use of the delivered components contains only examples of applica
tions and suggestions.
The machine and installation manufacturer must

make sure that the delivered components are suited for his individual
application and check the information given in this documentation
with regard to the use of the components,

make sure that his application complies with the applicable safety
regulations and standards and carry out the required measures,
modifications and complements.

Commissioning of the delivered components is only permitted once it is


sure that the machine or installation in which they are installed complies
with the national regulations, safety specifications and standards of the
application.

Operation is only permitted if the national EMC regulations for the appli
cation are met.

The instructions for installation in accordance with EMC requirements can


be found in the section on EMC in the respective documentation (Project
Planning Manuals of components and system).
The machine or installation manufacturer is responsible for compliance
with the limiting values as prescribed in the national regulations.

Technical data, connection and installation conditions are specified in the


product documentation and must be followed at all times.

National regulations which the user must take into account

European countries: according to 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)

1.1.3

Explanation of Warning Symbols and Degrees of Hazard Seriousness


The safety instructions describe the following degrees of hazard seriousness.
The degree of hazard seriousness informs about the consequences resulting
from non-compliance with the safety instructions:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

3/1033

Safety Instructions for Electric Drives and Controls

Warning symbol

Fig.1-1:

1.1.4

Signal word

Degree of hazard serious


ness acc. to ANSI Z
535.4-2002

Danger

Death or severe bodily harm


will occur.

Warning

Death or severe bodily harm


may occur.

Caution

Minor or moderate bodily


harm or material damage
may occur.

Hazard classification (according to ANSI Z 535)

Hazards by Improper Use


High electric voltage and high working current! Risk of death or severe
bodily injury by electric shock!

DANGER

Observe the safety instructions!

Dangerous movements! Danger to life, severe bodily harm or material


damage by unintentional motor movements!
DANGER

Observe the safety instructions!

High electric voltage because of incorrect connection! Risk of death or


bodily injury by electric shock!
WARNING

Observe the safety instructions!

Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electrical equipment!
WARNING

Observe the safety instructions!

Hot surfaces on device housing! Danger of injury! Danger of burns!


Observe the safety instructions!

CAUTION
Risk of injury by improper handling! Risk of bodily injury by bruising,
shearing, cutting, hitting or improper handling of pressurized lines!
CAUTION

Observe the safety instructions!

4/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Safety Instructions for Electric Drives and Controls

Risk of injury by improper handling of batteries!


Observe the safety instructions!

CAUTION

1.2

Instructions with Regard to Specific Dangers

1.2.1

Protection Against Contact with Electrical Parts and Housings


This section concerns devices and drive components with voltages
of more than 50 Volt.
Contact with parts conducting voltages above 50 Volts can cause personal
danger and electric shock. When operating electrical equipment, it is unavoid
able that some parts of the devices conduct dangerous voltage.

High electrical voltage! Danger to life, electric shock and severe bodily
injury!
DANGER

Only those trained and qualified to work with or on electrical equipment


are permitted to operate, maintain and repair this equipment.

Follow general construction and safety regulations when working on pow


er installations.

Before switching on the device, the equipment grounding conductor must


have been non-detachably connected to all electrical equipment in ac
cordance with the connection diagram.

Do not operate electrical equipment at any time, even for brief measure
ments or tests, if the equipment grounding conductor is not permanently
connected to the mounting points of the components provided for this
purpose.

Before working with electrical parts with voltage potentials higher than
50 V, the device must be disconnected from the mains voltage or power
supply unit. Provide a safeguard to prevent reconnection.

With electrical drive and filter components, observe the following:


Wait 30 minutes after switching off power to allow capacitors to discharge
before beginning to work. Measure the electric voltage on the capacitors
before beginning to work to make sure that the equipment is safe to touch.

Never touch the electrical connection points of a component while power


is turned on. Do not remove or plug in connectors when the component
has been powered.

Install the covers and guards provided with the equipment properly before
switching the device on. Before switching the equipment on, cover and
safeguard live parts safely to prevent contact with those parts.

A residual-current-operated circuit-breaker or r.c.d. cannot be used for


electric drives! Indirect contact must be prevented by other means, for
example, by an overcurrent protective device according to the relevant
standards.

Secure built-in devices from direct touching of electrical parts by providing


an external housing, for example a control cabinet.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

5/1033

Safety Instructions for Electric Drives and Controls


For electrical drive and filter components with voltages of more than
50 volts, observe the following additional safety instructions.

High housing voltage and high leakage current! Risk of death or bodily
injury by electric shock!
DANGER

1.2.2

Before switching on, the housings of all electrical equipment and motors
must be connected or grounded with the equipment grounding conductor
to the grounding points. This is also applicable before short tests.

The equipment grounding conductor of the electrical equipment and the


devices must be non-detachably and permanently connected to the power
supply unit at all times. The leakage current is greater than 3.5 mA.

Over the total length, use copper wire of a cross section of a minimum of
10 mm2 for this equipment grounding connection!

Before commissioning, also in trial runs, always attach the equipment


grounding conductor or connect to the ground wire. Otherwise, high vol
tages may occur at the housing causing electric shock.

Protection Against Electric Shock by Protective Extra-Low Voltage


Protective extra-low voltage is used to allow connecting devices with basic in
sulation to extra-low voltage circuits.
All connections and terminals with voltages between 5 and 50 volts at Rexroth
products are PELV systems. 1) It is therefore allowed to connect devices
equipped with basic insulation (such as programming devices, PCs, notebooks,
display units) to these connections and terminals.

High electric voltage by incorrect connection! Risk of death or bodily


injury by electric shock!
WARNING

1.2.3

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 requirements for
PELV. 2)

Protection Against Dangerous Movements


Dangerous movements can be caused by faulty control of connected motors.
Some common examples are:

improper or wrong wiring of cable connections

incorrect operation of the equipment components

wrong input of parameters before operation

malfunction of sensors, encoders and monitoring devices

defective components

software or firmware errors

Dangerous movements can occur immediately after equipment is switched on


or even after an unspecified time of trouble-free operation.

1)

"Protective Extra-Low Voltage"

2)

"Protective Extra-Low Voltage"

6/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Safety Instructions for Electric Drives and Controls


The monitoring in the drive components will normally be sufficient to avoid faulty
operation in the connected drives. Regarding personal safety, especially the
danger of bodily harm and material damage, this alone cannot be relied upon
to ensure complete safety. Until the integrated monitoring functions become
effective, it must be assumed in any case that faulty drive movements will occur.
The extent of faulty drive movements depends upon the type of control and the
state of operation.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

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Safety Instructions for Electric Drives and Controls

Dangerous movements! Danger to life, risk of injury, severe bodily harm


or material damage!
DANGER

Ensure personal safety by means of qualified and tested higher-level


monitoring devices or measures integrated in the installation.
These measures have to be provided for by the user according to the
specific conditions within the installation and a hazard and fault analysis.
The safety regulations applicable for the installation have to be taken into
consideration. Unintended machine motion or other malfunction is possi
ble if safety devices are disabled, bypassed or not activated.

To avoid accidents, bodily harm and/or material damage:

Keep free and clear of the machines range of motion and moving parts.
Possible measures to prevent people from accidentally entering the
machines range of motion:

use safety fences

use safety guards

use protective coverings

install light curtains or light barriers

Fences and coverings must be strong enough to resist maximum possible


momentum.

Mount the emergency stop switch in the immediate reach of the operator.
Verify that the emergency stop works before startup. Dont operate the
device if the emergency stop is not working.

Isolate the drive power connection by means of an emergency stop circuit


or use a safety related starting lockout to prevent unintentional start.

Make sure that the drives are brought to a safe standstill before accessing
or entering the danger zone.

Additionally secure vertical axes against falling or dropping after switching


off the motor power by, for example:

mechanically securing the vertical axes,

adding an external braking/ arrester/ clamping mechanism or

ensuring sufficient equilibration of the vertical axes.

The standard equipment motor brake or an external brake controlled di


rectly by the drive controller are not sufficient to guarantee personal
safety!

Disconnect electrical power to the equipment using a master switch and


secure the switch against reconnection for:

maintenance and repair work

cleaning of equipment

long periods of discontinued equipment use

Prevent the operation of high-frequency, remote control and radio equip


ment near electronics circuits and supply leads. If the use of such devices
cannot be avoided, verify the system and the installation for possible mal
functions in all possible positions of normal use before initial startup. If
necessary, perform a special electromagnetic compatibility (EMC) test on
the installation.

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Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Safety Instructions for Electric Drives and Controls

1.2.4

Protection Against Magnetic and Electromagnetic Fields During Oper


ation and Mounting
Magnetic and electromagnetic fields generated by current-carrying conductors
and permanent magnets in motors represent a serious personal danger to
those with heart pacemakers, metal implants and hearing aids.

Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electrical equipment!
WARNING

1.2.5

Persons with heart pacemakers and metal implants are not permitted to
enter following areas:

Areas in which electrical equipment and parts are mounted, being


operated or commissioned.

Areas in which parts of motors with permanent magnets are being


stored, repaired or mounted.

If it is necessary for somebody with a pacemaker to enter such an area,


a doctor must be consulted prior to doing so. The noise immunity of pres
ent or future implanted heart pacemakers differs greatly so that no general
rules can be given.

Those with metal implants or metal pieces, as well as with hearing aids,
must consult a doctor before they enter the areas described above. Oth
erwise health hazards may occur.

Protection Against Contact with Hot Parts


Hot surfaces at motor housings, on drive controllers or chokes! Danger
of injury! Danger of burns!

CAUTION

1.2.6

Do not touch surfaces of device housings and chokes in the proximity of


heat sources! Danger of burns!

Do not touch housing surfaces of motors! Danger of burns!

According to the operating conditions, temperatures can be higher than


60 C, 140F during or after operation.

Before accessing motors after having switched them off, let them cool
down for a sufficiently long time. Cooling down can require up to 140 mi
nutes! Roughly estimated, the time required for cooling down is five times
the thermal time constant specified in the Technical Data.

After switching drive controllers or chokes off, wait 15 minutes to allow


them to cool down before touching them.

Wear safety gloves or do not work at hot surfaces.

For certain applications, the manufacturer of the end product, machine or


installation, according to the respective safety regulations, has to take
measures to avoid injuries caused by burns in the end application. These
measures can be, for example: warnings, guards (shielding or barrier),
technical documentation.

Protection During Handling and Mounting


In unfavorable conditions, handling and mounting certain parts and compo
nents in an improper way can cause injuries.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

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Safety Instructions for Electric Drives and Controls

Risk of injury by improper handling! Bodily injury by bruising, shearing,


cutting, hitting!
CAUTION

1.2.7

Observe the general construction and safety regulations on handling and


mounting.

Use suitable devices for mounting and transport.

Avoid jamming and bruising by appropriate measures.

Always use suitable tools. Use special tools if specified.

Use lifting equipment and tools in the correct manner.

If necessary, use suitable protective equipment (for example safety gog


gles, safety shoes, safety gloves).

Do not stand under hanging loads.

Immediately clean up any spilled liquids because of the danger of skidding.

Battery Safety
Batteries consist of active chemicals enclosed in a solid housing. Therefore,
improper handling can cause injury or material damage.

Risk of injury by improper handling!


CAUTION

Do not attempt to reactivate low batteries by heating or other methods (risk


of explosion and cauterization).

Do not recharge the batteries as this may cause leakage or explosion.

Do not throw batteries into open flames.

Do not dismantle batteries.

When replacing the battery/batteries do not damage electrical parts in


stalled in the devices.

Only use the battery types specified by the manufacturer.


Environmental protection and disposal! The batteries contained in
the product are considered dangerous goods during land, air, and
sea transport (risk of explosion) in the sense of the legal regulations.
Dispose of used batteries separate from other waste. Observe the
local regulations in the country of assembly.

1.2.8

Protection Against Pressurized Systems


According to the information given in the Project Planning Manuals, motors
cooled with liquid and compressed air, as well as drive controllers, can be par
tially supplied with externally fed, pressurized media, such as compressed air,
hydraulics oil, cooling liquids and cooling lubricating agents. Improper handling
of the connected supply systems, supply lines or connections can cause injuries
or material damage.

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Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Safety Instructions for Electric Drives and Controls

Risk of injury by improper handling of pressurized lines!


CAUTION

Do not attempt to disconnect, open or cut pressurized lines (risk of explo


sion).

Observe the respective manufacturer's operating instructions.

Before dismounting lines, relieve pressure and empty medium.

Use suitable protective equipment (for example safety goggles, safety


shoes, safety gloves).

Immediately clean up any spilled liquids from the floor.


Environmental protection and disposal! The agents used to operate
the product might not be economically friendly. Dispose of ecolog
ically harmful agents separately from other waste. Observe the local
regulations in the country of assembly.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

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General Information

General Information

2.1

Document Structure

2.1.1

General
All standard and product-specific parameters are listed in this documentation
in a numerically ascending order. In addition to the data contained in the Func
tional 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.
1. Parameter Number, Parameter Name
The parameter number (S-0-0001) and the parameter name are indicated.
2. Allocation
This overview shows in which firmware version, in which functional package(s)
and for which hardware the parameter is available.
3. Function, Structure, Use
The function and structure of the parameter, as well as information on its pa
rameterization (use), are contained in the general description.
4. Attributes
The characteristic values and features help to classify the parameter.

2.1.2

Definitions
The following data and abbreviations are used:
Function:
Par - The parameter is used to display, set and configure values.
Cmd - The parameter is used to execute commands.
Editability:
no The operating data cannot be edited.
P2 - The operating data can only be edited in communication phase 2.
P23 - The operating data can be edited communication phases 2 and 3.
P234 - The operating data can be edited in any communication phase.
P3 - The operating data can only be edited in communication phase 3.
P4 - The operating data can only be edited in communication phase 4.
PM+OM - parameter mode; operating mode
PM - parameter mode
OM - operating mode
Data length:
2Byte The data length of the operating data is 2 bytes.
4Byte The data length of the operating data is 4 bytes.
1Byte var The operating data has variable length (list), the length of a data
element is 1 byte.
2Byte var The operating data has variable length (list), the length of a data
element is 2 byte.
4Byte var The operating data has variable length (list), the length of a data
element is 4 byte.

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Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

General Information
Memory:
no The operating data is not buffered in the drive, the value after switching
the drive controller on is not defined.
PARAM_SP/SPS_IDN_SP / FIX_IDN_SP - The operating data is stored in the
active non-volatile memory (see P-0-4065).
ON_BOARD_SP - The operating data is stored in the flash on the control sec
tion.
RETAIN_GERAET In case control voltage fails, the operating data is stored
in the active non-volatile memory (see P-0-4065) and, with MMC active, during
operation cyclically in the flash on the control section.
RETAIN_KUNDE In case control voltage fails, the operating data is stored in
the active non-volatile memory (see P-0-4065) and, with MMC active, during
operation cyclically in the flash on the control section.
FEEDB_I2C/FEEDB_ENDAT/FEEDB_RS485/FEEDB_HYPER The operat
ing data is buffered on the EPROM of the motor encoder data memory (only
for Rexroth motors with data feedback).
LT_SP - The operating data is stored in the flash on the power section.
I2C_OPM_SP- The operating data is stored on the EPROM of an optional card.
Validity check (Validity ch.):
no The operating data is not checked for validity.
P2->P3 The operating data is checked in the command "communication
phase 3 transition check".
P3->P4 The operating data is checked in the command "communication
phase 4 transition check".
PM->OM Format:
BIN - The display format of the operating data should be binary.
HEX - The display format of the operating data should be hexadecimal.
DEC_OV - The display format of the operating data should be decimal without
sign.
DEC_MV - The display format of the operating data should be decimal with sign.
ASCII - The operating data is a string.
IDN - The operating data is an ID number.
Unit:
If existing, the corresponding unit of the parameter is indicated.
Extreme value check (Extr. val. ch.):
-- (no) When writing data, the operating data is not checked for its extreme
values.
+ (yes) When writing data, the operating data is checked for its extreme val
ues.
Decimal place (Decim. pl.):
Indicates the number of decimal places: 6 decimal places: 30 000 0,03
Cyclically transmittable (Cycl. tra.):
no - The operating data can neither be configured as a cyclic data in the master
data telegram nor in the drive telegram.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

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General Information
AT - The operating data can be configured as a cyclic data in the drive telegram.
MDT - The operating data can be configured as a cyclic data in the master data
telegram.
AT+MDT - The operating data can be configured as a cyclic data in the master
data telegram and in the drive telegram.
Combination check (Comb. check):
-- (no) When writing data, the operating data is not checked for valid combi
nation (bit lists).
+ (yes) When writing data, the operating data is checked for valid combination
(bit lists).
Set switchable:
yes - With parameter set switching available, the parameter is available 8 times
as a maximum (parameter set 0 to parameter set 7).
no - The parameter is not available in any other parameter set.
See also Functional Description "Parameter Set Switching"
Default value:
The default value indicates the value of the parameter definitely programmed
in the drive. The default value is activated by executing the command
"S00262, C07_x Load defaults procedure command" (with "P04090, Index
for C07 Load defaults procedure" = "1") or by pressing the "Esc" key when the
message "PL" appears on the display.
Basic principles of drive control:

Open-loop axis control (open-loop U/f control) open-loop-controlled op


eration without encoder information

Closed-loop axis control closed-loop-controlled operation with encoder


feedback

Firmware variants
For the IndraDrive range, there are different application-related firmware var
iants available that are characterized by their scope of functions and their
performance:

MTH: Drives for machine tool applications with SERCOS interface (Ad
vanced performance and functionality)

MPX: Drives for general automation (incl. machine tool applications) with
SERCOS interface, Profibus, Ethernet CanOpen, DeviceNet, as well as
parallel and analog interface (the variants of design are MPH, MPB and
MPD; see below)

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Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

General Information
The first two letters of the firmware designation identify the appli
cation and profile of the firmware:

MT: "Machine Tool" Drives for machine tool applications with


SERCOS interface (drive profile according to SERCOS)

MP: "Multi Purpose" Drives for general automation (incl.


machine tool applications) with SERCOS interface, Profibus,
as well as parallel and analog interface (drive profile according
to SERCOS)

The third letter of the firmware designation identifies the hardware,


as well as the performance and functionality of the firmware (X
comprises H, B and D):

H: Single-axis firmware with Advanced performance and func


tionality

B: Single-axis firmware with Basic performance and function


ality

D: Double-axis firmware with Basic performance and func


tionality

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

15/1033

Standard Parameters

Standard Parameters

3.1

S-0-0000 - S-0-0100 Standard Parameters

3.1.1

S-0-0000, Dummy parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter serves as a wild card, it does not have any function. This pa
rameter can be cyclically written and read.
Possible applications:

S-0-0000 - Attributes

filling up S-0-0370, Configuration list for MDT data container with wild
cards

measuring dead time for writing and reading data via the bus

etc.

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.2

PM+OM
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0001, NC cycle time (TNcyc)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The NC cycle time indicates the time intervals in which the numerical control
provides new command values.
See also Functional Description "SERCOS interface"

Use

In the case of SERCOS interface, the NC cycle time has to be transmitted to


the slave in communication phase 2 and be taken into account in the slave from
communication phase 3 on. The TNcyc has to be an integral multiple of the
S00002, SERCOS cycle time (TScyc).

j
TNcyc:
TScyc:

Fig.3-1:

1, 2, 3 ...
NC cycle time
SERCOS cycle time

Determining the NC cycle time

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Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
S-0-0001 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

3.1.3

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1000 / 65000
1000 / 65000
250 / 65000

Default value
2000
2000
2000

S-0-0002, SERCOS cycle time (TScyc)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The content of S00002, SERCOS cycle time (TScyc) defines the time intervals
in which the cyclic real-time data (MDT and AT) are transmitted via SERCOS
and processed in the drive.
The allowed input values in S00002 depend on the position loop clock:

minimum SERCOS cycle time: Tposition

time intervals of the allowed inputs: Tposition

See also Functional Description "SERCOS interface"


See also Functional Description "Performance Data"
Use

With the position loop clock in the different firmware variants:

CSH01.1C with MPH firmware: Tposition = 250 s

CSB01.1x with MPB firmware: Tposition = 500 s

CDB01.1C with MPD firmware: Tposition = 500 s

The following input values are resulting for a basic control section (CSB01.1),
for example:
500 s, 1 ms, 2 ms, up to 65 ms in steps of 500 s!
In the case of SERCOS interface, the SERCOS cycle time has to
be transmitted from the master to the slave in communication
phase 2 and be activated in both from communication phase 3 on.
S-0-0002 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

3.1.4

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1000 / 65000
1000 / 65000
250 / 65000

Default value
2000
2000
2000

S-0-0003, Minimum AT transmit starting time (T1min)


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

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Standard Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

In the value of this parameter the slave indicates the minimum time required
between the end of the received master synchronization telegram and the
transmission of its drive telegram.
See also Functional Description "SERCOS interface"

Use

S-0-0003 - Attributes

The T1min time is read by the master in communication phase 2 in order to


calculate the transmission starting time of the drive telegram T1 S00006, AT
Transmission starting time (T1).
Function:
Memory:
Unit:
Cycl. tra.:

Par
-us
--

Input
MPB:
MPD:
MPH:

3.1.5

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0004, Transmit/receive transition time (TATMT)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The value of this parameter indicates the time required by the slave in order to
switch to reception of the master data telegram after having transmitted its drive
telegram.
See also Functional Description "SERCOS interface"

Use

S-0-0004 - Attributes

The transmit/receive transition time (MDT) is read by the master in communi


cation phase 2 in order to calculate the transmission starting time of the master
data telegram T2 S00089, MDT Transmit starting time (T2).
Function:
Memory:
Unit:
Cycl. tra.:

Par
-us
--

Input
MPB:
MPD:
MPH:

3.1.6

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

S-0-0005, Minimum feedback acquisition time (T4min)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Minimum time required by the slave between actual value acquisition and the
end of the master synchronization telegram (MST in the case of SERCOS). The

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Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
drive generates this value in such a way that the current actual values can be
transmitted to the numerical control in the next drive telegram.
See also Functional Description "SERCOS interface"
Use

S-0-0005 - Attributes

In the case of the SERCOS interface, the master reads this value in commu
nication phase 2 in order to set the acquisition starting time of the actual values
T4 S00007, Feedback acquisition starting time (T4) accordingly for all drives.
Function:
Memory:
Unit:
Cycl. tra.:

Par
-us
--

Input
MPB:
MPD:
MPH:

3.1.7

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

S-0-0006, AT Transmission starting time (T1)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The transmission starting time of the drive telegram (AT) determines when the
slave has to transmit its drive telegram in communication phases 3 and 4 after
the end of the master synchronization telegram.
In communication phase 2 this parameter is transmitted by the master to the
slave and becomes active from communication phase 3 on.
See also Functional Description "SERCOS interface"

Use

The AT transmission starting time (T1) has to be set equal to or greater than
the transmission reaction time S00003, Minimum AT transmit starting time
(T1min).
The following must apply: T1min T1

S-0-0006 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

3.1.8

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

min./max.
4 / 65000
4 / 65000
4 / 65000

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
200
200
200

S-0-0007, Feedback acquisition starting time (T4)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Actual value acquisition starting time, set by the master, after the end of the
synchronization telegram.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

19/1033

Standard Parameters
The master can therefore specify the same actual value acquisition starting time
for all drives that operate in a co-ordinate mode. This guarantees the synchro
nization of actual value acquisition for the drives involved. In addition, the
cyclically transmitted command values are processed at the point of time T4.
See also Functional Description "SERCOS interface"
Use

In the case of the SERCOS interface, the master has to set the actual value
acquisition starting time equal to or less than the difference of S00002, SER
COS Cycle time (Tscyc) and the S00005,Minimum feedback acquisition time
(T4min) that has been queried.
The following must apply: T4 TScyc - T4min
From communication phase 3 on the drive activates the actual value
acquisition starting time.

S-0-0007 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

3.1.9

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
11 / 65000
11 / 65000
11 / 65000

Default value
500
500
500

S-0-0008, Command value valid time (T3)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The "command valid time" indicates the point of time at which the drive is al
lowed to access the new command values.
The master can therefore set the same "command valid time" for all drives that
operate in a co-ordinate mode. The drive activates the "command valid time"
from communication phase 3 on.
See also Functional Description "SERCOS interface"

S-0-0008 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

3.1.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 65000
0 / 65000
0 / 65000

Default value
900
900
900

S-0-0009, Position of data record in MDT


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

20/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

optional master communication card


"open loop", "closed loop"

This parameter represents the beginning address of a data record of a drive in


the MDT, represented as a byte position. Starting with 1 for the first data byte
after the address position in the MDT.
The beginning address of the drive data record in the MDT is transmitted to
each drive by the master in communication phase 2 and activated from com
munication phase 3 on.
See also Functional Description "SERCOS interface"

S-0-0009 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.11

P2
P2->P3
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1 / 65531
1 / 65531
1 / 65531

Default value
1
1
1

S-0-0010, Length of master data telegram


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The length of the master data telegram, which is the number of bytes, contains
the data records of all drives. The length of the MDT is transmitted by the master
to all drives in communication phase 2 and activated by master and slave from
communication phase 3 on.
See also Functional Description "SERCOS interface"

S-0-0010 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Byte
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.12

P2
P2->P3
---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
4 / 65534
4 / 65534
4 / 65534

Default value
4
4
4

S-0-0011, Class 1 diagnostics


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

When a class 1 diagnostics error is detected in the drive, this causes the static
error bit to be set in the corresponding status word of the master communica
tion:

SERCOS: "S-0-0135, Drive status word, bit 13"

SERCOS-III: "S-0-1135, SERCOS-III: Drive status word, bit 13"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

21/1033

Standard Parameters

Field bus: "P-0-4078, Field bus: status word, bit 13"

Analog/parallel: "P-0-0115, Device control: status word, bit 13" for class 1
diagnostics

See also Functional Description "Status Classes, Status Displays, Control Pa


rameters"
Structure

Bit

Designation/function

amplifier overtemperature shutdown

motor overtemperature shutdown (see also


S-0-0204)

reserved

control voltage error

encoder error

reserved

overcurrent error

reserved

undervoltage error

10

reserved

11

excessive deviation

12

communication error

13

position limit value exceeded

14

reserved

15

manufacturer-specific error

Fig.3-2:
Use

Comment

S-0-0011, Class 1 diagnostics

The following setting generally applies:

bit x = "0": no class 1 diagnostics error present

bit x = "1": class 1 diagnostics error present

The error bit will only be reset to "0" by the drive, when

there isn't any more class 1 diagnostics error present and

the command "S00099, C0500 Reset class 1 diagnostics" was started.

Drive interlock
A class 1 diagnostics error situation detected by the drive will cause

S-0-0011 - Attributes

the error reaction of the drive (see Functional Description "Error Reaction")
to be carried out and

the static error bit for class 1 diagnostics to be set.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

22/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.1.13

S-0-0012, Class 2 diagnostics


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

When a class 2 diagnostics warning becomes active or inactive in the drive,


this causes the change bit to be set in the corresponding status word:

SERCOS: The change bit (S00135, Drive status word or S01135,


SERCOS-III: Drive status word, bit 12) for class 2 diagnostics is only
cleared by the drive when the parameter S00012, Class 2 diagnostics is
read.

Field bus: The change bit P04078, Field bus: status word, bit 12, for
class 2 diagnostics is immediately cleared by the drive when the condition
for the warning is no longer fulfilled.

See also Functional Description "Status Classes, Status Displays, Control Pa


rameters"
Structure

Bit

Designation/function

overload warning

Comment

(cf. P-0-0445, bit 8; P-0-0445, bit 9; P-0-0861, bit 7)


1

amplifier overtemperature warning


(cf. P-0-0861, bit 12; P-0-0861, bit 14)

motor overtemperature warning


(cf. P-0-0445, bit 14)

4/3

reserved

positioning velocity > nlimit


(see also P-0-0315, bit 0)

8-6

reserved

undervoltage in DC bus
(see also P-0-0861, bit 0; P-0-0861, bit 3)

12-10

reserved

13

target position outside of position limit values


(see also S-0-0323, bit 0)

15

manufacturer-specific warning
(see also P-0-0115, bit 2)

Fig.3-3:
Use

S-0-0012, Class 2 diagnostics

As regards the bits, the following setting generally applies:

bit x = "0": condition for warning not fulfilled

bit x = "1": condition for warning fulfilled

As illustrated in the table above, the individual status bits are mapped to other
manufacturer-specific parameters (e.g. P00861, P00115,).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

23/1033

Standard Parameters
For configuration in "S00144, Signal status word", preferably use
the manufacturer-specific bits in the P-parameters.
S-0-0012 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.14

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0013, Class 3 diagnostics


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

When a class 3 diagnostics message becomes active or inactive in the drive,


this causes the change bit to be set in the corresponding status word:

SERCOS:The change bit (S00135, Drive status word, bit 11) for class 3
diagnostics is only cleared by the drive when the parameter S00013,
Class 3 diagnostics is read.

Field bus: The change bit P04078, Field bus: status word, bit 11, for
class 3 diagnostics is immediately cleared by the drive when the condition
for the message is no longer fulfilled.

See also Functional Description "Status Classes, Status Displays, Control Pa


rameters"
Structure

Defined operating status messages are assigned to the individual bits of this
parameter. The structure of the parameter and the significance of the individual
bits is explained below.
Bit

Designation/function

actual velocity = command velocity (S-0-0330)|


(S-0-0040)-(S-0-0036)-(S-0-0037)| S-0-0157

| actual velocity | < standstill window (S-0-0331)|


S-0-0040| < S-0-0124

| actual velocity | < velocity threshold (S-0-0332)|


S-0-0040| < S-0-0125

| actual torque/force value | torque threshold(S-0-0333)|


S-0-0084| S-0-0126

| actual torque/force value | minimum torque limit value


(S-0-0334)|S-0-0084| minimum of (P-0-0444,
P-0-0442, P-0-0443)

| command velocity | > vel. limit value (S-0-0335)|


(S-0-0036) + (S-0-0037)| > S-0-0091

Comment

24/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Bit

Designation/function

Comment

In Position (S-0-0336) | lag error | < position window |


S-0-0189| < S-0-0057
only with active "position spindle" command: |S-0-0040|
< S-0-0124 (S-0-0331) and |actual position value (S-0-0430)| < S-0-0057 and |S-0-0036| + |S-0-0037| <
S-0-0124

| actual power value | power threshold (S-0-0337) |


S-0-0382| S-0-0158

11

lag error < coarse position window (S-0-0341) |S-0-0189|


< S-0-0261

12

target position reached (S-0-0342), internal position cmd


value = effective target position P-0-0434 = S-0-0430

Fig.3-4:

S-0-0013, Class 3 diagnostics

As regards the bits, the following setting generally applies:

S-0-0013 - Attributes

bit x = "0": condition for message not fulfilled

bit x = "1": condition for message fulfilled

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.15

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0014, Interface status


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains important status bits with regard to the master com
munication or the communication phases.
See also Functional Description "Basic Functions of Master Communication"

Structure

Bit

Designation/function

2-0

communication phase

double MST miss

double MDT failure

invalid phase (phase > 4)

error during phase progression (order)

error during phase regression (not to phase 0)

phase switch without ready signal

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

25/1033

Standard Parameters
Bit

Designation/function

Comment

bus interruption

as of MPx05

10

PLC stop

as of MPx05

11

bus stop

as of MPx05

12

SERCOS III: incorrect sequence during phase switch,


timeout during phase switch

as of MPx04

13

SERCOS III: incorrect sequence during phase switch,


phase input without phase switch

as of MPx04

15-9

reserved

Fig.3-5:

Relevant bits of S-0-0014, Interface status

Bits 3, 5, 6, 7 and 8 are only supported with SERCOS interface! Bits


9, 10 and 11 are only supported with field bus interface!
Use

Current communication phase


By means of the lower three bits (0, 1, 2) it is possible to read the current com
munication phase (binary coding):

010b: drive is in phase 2 (parameter mode)

011b: drive is in phase 3 (parameter mode)

100b: drive is in phase 4 (operating mode)

Communication error bits according to SERCOS interface


When a master communication interface error occurs with SERCOS and field
bus drives,

one of the bits 3-15 is set in "S00014, Interface status" (bit in 4 .. 15 = 1


=> error is present)

and bit 12 is set in "S00011, Class 1 diagnostics".


The communication error bits will only be cleared by the drive when
the respective interface error is no longer present and the command
"S00099, C0500 Reset class 1 diagnostics" was started.

S-0-0014 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.16

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

S-0-0015, Telegram type parameter


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

26/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

In the telegram type parameter it is possible to choose between priority tele


grams and configured telegram.

When "configurable telegram" has been selected, it is possible to freely


configure S00016, Configuration list of AT and S00024, Config. list of
the master data telegram.

For priority telegrams the content of S00016, Configuration list of AT and


S00024, Config. list of the master data telegram is automatically adjus
ted to the selected priority telegram.
The telegram type selected is activated in the master and in the
slave only from communication phase 3 on.

See also Functional Description "Communication with SIS Protocol "


Structure

Bit

Designation/function

Comment

0-2

priority telegram selection or selection of configured tele


gram

0: actual position value-1 (motor encoder)


1: actual position value-2 (external encoder)

Fig.3-6:

S-0-0015, Telegram type parameter

The following table describes the individual priority telegrams that can be se
lected via bit 0...2.
Bit 2...0

MDT (cyclic command values)

AT (cyclic actual values)


no cyclic data

000

VZ 0

no cyclic data

001

VZ 1

DF1: S-0-0080, Torque/force command value no cyclic data

010

VZ 2

DF1: S-0-0036, Velocity command value

DF1: S-0-0040, Velocity feedback value

011

VZ 3

DF1: S-0-0036, Velocity command value

DF1: S-0-0051/S-0-0053 Position feedback 1/2 value

100

VZ 4

DF1: S-0-0047, Position command value

DF1: S-0-0051/S-0-0053Position feedback 1/2 value

101

VZ 5

DF1: S-0-0047, Position command value

DF1: S-0-0051/S-0-0053Position feedback 1/2 value

DF2: S-0-0036, Velocity command value

DF2: S-0-0040, Velocity feedback value

DF1: S-0-0036, Velocity command value

no cyclic data

configurable telegram

configurable telegram

110
111

VZ 6

Fig.3-7:

Supported bits

with VZ: priority telegram


DF1/2: data field 1/2
S-0-0015 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0
0
0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

27/1033

Standard Parameters

3.1.17

S-0-0016, Configuration list of AT


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This parameter specifies the parameters which are contained in the drive
telegram (AT) when the configurable telegram has been defined by parameter
S00015, Telegram type parameter.
See also Functional Description "Telegram Structure, Telegram Frame"

Use
S-0-0016 - Attributes

The configurable parameters are contained in parameter S00187, List of con


figurable data in the AT and are entered in this parameter as an IDN list.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.18

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0017, IDN-list of all operation data


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The IDNs of all operating data available in the drive are contained in this IDN
list.
See also Functional Description "Parameters, Basics"

S-0-0017 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.1.19

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0018, IDN list of operating data for communication phase 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The IDN list contains the IDNs of all parameters that the drive checks in the
transition check command for phase 3. Only if the data of the listed IDNs are

28/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
correct can the transition check command be positively acknowledged and the
transition to communication phase 3 be allowed.
See also Functional Description "IDN Lists of Parameters"
S-0-0018 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.1.20

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0019, IDN list of operating data for communication phase 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The IDN list contains the IDNs of all parameters that the drive checks in the
transition check command for phase 4. Only if the data of the listed IDNs are
correct can the transition check command be positively acknowledged and the
transition to communication phase 4 be allowed.
See also Functional Description "IDN Lists of Parameters"

S-0-0019 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.1.21

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: -Default value
-------

S-0-0021, IDN list of invalid operating data for communication phase 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Before the drive switches from phase 2 to phase 3 in accordance with the
"S00127, C0100 Communication phase 3 transition check" command, it
checks whether all communication parameters are complete and correct.
See also Functional Description "IDN Lists of Parameters"

Structure

If the drive recognizes one or more invalid IDNs, it writes the operating data still
required or invalid to this IDN list. The drive displays this by means of the fault
diagnosis "C0101 Invalid parameters" (see S-0-0021).
In the case of other fault diagnoses the respective parameters are written to
S00021, too.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

29/1033

Standard Parameters
S-0-0021 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.22

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: -Default value
-------

S-0-0022, IDN list of invalid operating data for communication phase 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Before the drive switches from phase 3 to phase 4 in accordance with the
"S-0-0128, C0200 Communication phase 4 transition check" command, it
checks the parameters for the following aspects:

validity of the parameter

parameter within the possible input range

"compatibility" with other parameters

If the result of the parameter check is negative, the drive writes the respective
operating data to this IDN list.
See also Functional Description "IDN Lists of Parameters"
Structure

S-0-0022 - Attributes

The drive then acknowledges the transition command with the messages:

C0201 Invalid parameters (->S-0-0022) or

C0202 Parameter limit error (->S-0-0022) or

C0203 Parameter calculation error (->S-0-0022) or

C0242 Multiple configuration of a parameter (->S-0-0022)

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.1.23

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: -Default value
-------

S-0-0024, Config. list of the master data telegram


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This parameter defines the parameter values which are contained in the master
data telegram (MDT) in case the configurable telegram is fixed by the
"S00015, Telegram type parameter"

30/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
See also Functional Description "Telegram Structure, Telegram Frame"
Use
S-0-0024 - Attributes

The configurable parameters are contained in the "S00188, List of configura


ble data in the MDT" parameter and are entered in this parameter as a list.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.24

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0025, IDN-list of all procedure commands


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The IDNs of all commands available in the drive are stored in the data of the
IDN list.
See also Functional Description "Commands"

S-0-0025 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.1.25

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0026, Configuration list signal status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter it is possible to list (configure) a maximum of 16 parameter


IDNs, one bit of each is to be mapped to "S00144, Signal status word". The
first line of the list corresponds with the LSB of S00144, the following lines
with the respective more significant bits.
See also Functional Description "Configurable Signal Status Word"

Use

The IDNs of the parameters that can be entered in S00026 are contained
in "S00398, IDN list of configurable data in the signal status word".

The assignment with regard to which bit of the respective parameter is


mapped to S00144 is made in "S00328, Assign list signal status word".

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

31/1033

Standard Parameters

S-0-0026 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

If the IDN S00000 is entered, this position does not have any
function, the respective bit in the signal status word (S00144)
displays the value "0".

If an IDN is entered that is not contained in S00398, the pa


rameter error "Data incorrect" (error code 7008h) is generated.

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.26

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0027, Configuration list signal control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter it is possible to list (configure) a maximum of 16 parameter


IDNs, one bit of each is to be written via "S00145, Signal control word". The
first line of the list corresponds with the LSB of S00145, the following lines
with the respective more significant bits.
See also Functional Description "Configurable Signal Status Word"

Use

S-0-0027 - Attributes

The IDNs of the parameters that can be entered in S00027 are contained
in "S00399, IDN list of configurable data in the signal control word".

The assignment with regard to which bit of the respective parameter is to


be written in S00027 is made in "S00329, Assign list signal control
word".

If the IDN S00000 is entered, the respective bit does not have any func
tion in the signal control word (S00145).

If an IDN is entered that is not contained in S00399, the parameter error


"Data incorrect" (error code 7008h) is generated.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.27

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0028, MST error counter


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

32/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

optional master communication card


"open loop", "closed loop"

This parameter registers the number of all invalid master control telegrams
(MSTs) in the communication phases 3 and 4.
See also Functional Description "Interface Errors and Diagnostic Possibilities"

Use

S-0-0028 - Attributes

If two MSTs are invalid in immediate succession, the "F4001 Double MST fail
ure shutdown" error is generated and the drive is switched back to communi
cation phase 0.The maximum countable number of invalid MSTs is 216 -1
(65535). If parameter S00028 has high values, this implies frequent commu
nication errors. When switching to communication phase 3, the count is reset
to zero.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.28

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0029, MDT error counter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This parameter displays the number of all invalid master data telegrams (MDTs)
in the communication phases 3 and 4.
See also Functional Description "Interface Errors and Diagnostic Possibilities"

Use

If two MDTs are invalid in immediate succession, the error "F4002 Double MDT
failure shutdown" is generated and the drive is switched back to communication
phase 0.
The maximum countable number of invalid MDTs is 216 -1 (65535). If parameter
S00029 has high values, this implies frequent communication failures.
The content of S00029 is reset to zero in the transition command
"S00127, C0100 Communication phase 3 transition check".

S-0-0029 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.29

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0030, Manufacturer version


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

33/1033

Standard Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
-"open loop", "closed loop"

MPD

This parameter contains the drive firmware version in the form of a text (ASCII
format).
See also Functional Description "System Overview"

Structure

Interpret the content of the parameter as follows:

Fig.3-8:
S-0-0030 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Structure of S-0-0030, Manufacturer version


Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.30

nein
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0032, Primary mode of operation


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The operating mode determined in this parameter is activated in the drive, if:

the primary mode of operation was selected in the master control word

(bits 8 and 9 = "00") and

control and power sections are ready for operation and

drive enable "RF" was set.

See also Functional Description "Selecting the Operating Mode"


Use

The operating mode is determined by entering a binary value in this parameter.


In this value, certain positions have a fixed definition. In bit 3 you must set
whether the drive is to work with lagless position control or with position control
with lag error.
The following applies: bit 3 = 0 position control with lag error
bit 3 = 1 lagless position control
The operating modes supported by the respective firmware are stored in pa
rameter S-0-0292, List of all operating modes and when being read are dis
played in the form of a hexadecimal code.

34/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
The binary values assigned to the operating modes are listed in the
table "Overview of operating modes" in the parameter description
of S-0-0292.
See also Parameter Description "S-0-0292, List of all operating modes"
S-0-0032 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.31

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

S-0-0033, Secondary operation mode 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The operating mode determined in this parameter is activated in the drive, if:

the secondary operating mode 1 was selected in the master control word
(bits 8 and 9 = "01"),

control and power sections are ready for operation and

drive enable "RF" was set.

See also Functional Description "Selecting the Operating Mode"


Use

The operating mode is determined by entering a binary value in this parameter.


In this value, certain positions have a fixed definition. In bit 3 you must set
whether the drive is to work with lagless position control or with position control
with lag error.
The following applies: bit 3 = 0 position control with lag error
bit 3 = 1 lagless position control
The operating modes supported by the respective firmware are stored in pa
rameter S-0-0292, List of all operating modes and when being read are dis
played in the form of a hexadecimal code.
The binary values assigned to the operating modes are listed in the
table "Overview of operating modes" in the parameter description
of S-0-0292.
See also Parameter Description "S-0-0292, List of all operating modes"

S-0-0033 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
2
2
2

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

35/1033

Standard Parameters

3.1.32

S-0-0034, Secondary operation mode 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The operating mode determined in this parameter is activated in the drive, if:

the secondary operating mode 2 was selected in the master control word
(bits 8 and 9 = "10"),

control and power sections are ready for operation and

drive enable "RF" was set.

See also Functional Description "Selecting the Operating Mode"


Use

The operating mode is determined by entering a binary value in this parameter.


In this value, certain positions have a fixed definition. In bit 3 you must set
whether the drive is to work with lagless position control or with position control
with lag error.
The following applies: bit 3 = 0 position control with lag error
bit 3 = 1 lagless position control
The operating modes supported by the respective firmware are stored in pa
rameter S-0-0292, List of all operating modes and when being read are dis
played in the form of a hexadecimal code.
The binary values assigned to the operating modes are listed in the
table "Overview of operating modes" in the parameter description
of S-0-0292.
See also Parameter Description "S-0-0292, List of all operating modes"

S-0-0034 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.33

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

S-0-0035, Secondary operation mode 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The operating mode determined in this parameter is activated in the drive, if:

the secondary operating mode 3 was selected in the master control word
(bits 8 and 9 = "11"),

control and power sections are ready for operation and

drive enable "RF" was set.

36/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
See also Functional Description "Selecting the Operating Mode"
Use

The operating mode is determined by entering a binary value in this parameter.


In this value, certain positions have a fixed definition. In bit 3 you must set
whether the drive is to work with lagless position control or with position control
with lag error.
The following applies: bit 3 = 0 position control with lag error
bit 3 = 1 lagless position control
The operating modes supported by the respective firmware are stored in pa
rameter S-0-0292, List of all operating modes and when being read are dis
played in the form of a hexadecimal code.
The binary values assigned to the operating modes are listed in the
table "Overview of operating modes" in the parameter description
of S-0-0292.
See also Parameter Description "S-0-0292, List of all operating modes"

S-0-0035 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.34

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

S-0-0036, Velocity command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the "velocity control" mode the control unit cyclically enters the command
value in this parameter.
The velocity command value actually effective (addition of all com
ponents that generate the velocity command value) at the input of
the velocity loop is displayed in parameter P00048.
See also Functional Description "Velocity Control"

Record of Modifications

S-0-0036 - Attributes

Version

Attribute

GEN-02VRS

Extr. val. ch.: yes

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: MDT


Input
MPB:

Description

Comb. check: -min./max.


S-0-0044 / S-0-0044

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: -Default value
0,0000

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

37/1033

Standard Parameters
MPD:
MPH:

3.1.35

S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

0,0000
0,0000

S-0-0037, Additive velocity command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In velocity-controlled and position-controlled operating modes, the control unit


can cyclically enter an additive command value in this parameter in case the
control unit provides the respective value.
The velocity command value actually effective (addition of all com
ponents that generate the velocity command value) at the input of
the velocity loop is displayed in parameter P00048.
See also Functional Description "Velocity Control"

Record of Modifications

S-0-0037 - Attributes

Version

Attribute

GEN-02VRS

Extr. val. ch.: yes

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

3.1.36

Description

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
0,0000
0,0000
0,0000

S-0-0038, Positive velocity limit value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Depending on the application, this parameter indicates the value for the maxi
mum allowed positive velocity command value of the motor.
See also Functional Description "Velocity Limitation"

Use

S-0-0038 - Attributes

The maximum value for "S00038" is the value of "S00113", Maximum


motor speed in positive direction. This value also is the maximum value
for all other velocity parameters.

If "S00091, Bipolar velocity limit value" is smaller than "S00038, Posi


tive velocity limit value", the limit value from S00091 takes effect.

The default value for S00038 is "0" (switched off), the value from
S00091 therefore acts as limit for positive velocities.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte
DEC_MV

38/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Unit:

S-0-0044

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.37

--

S-0-0045 /
S-0-0046
set switchable: +
Decim. pl.:

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

S-0-0039, Negative velocity limit value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Depending on the application, this parameter indicates the value for the maxi
mum allowed negative velocity command value of the motor.
See also Functional Description "Velocity Limitation"

Use

S-0-0039 - Attributes

The maximum value for S00039 is the value of "S00113, Maximum


motor speed" in negative direction. This value also is the maximum value
for all other velocity parameters.

If the absolute value of "S00091, Bipolar velocity limit value" is smaller


than "S00039, Negative velocity limit value", the limit value from
S00091 takes effect.

The default value for S00039 is "0" (switched off), the value from
S00091 therefore acts as limit for negative velocities.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.38

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: +

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

S-0-0040, Velocity feedback value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The actual velocity value of the motor encoder can be transmitted by the drive
controller to the control unit either cyclically or via the service channel.
In open-loop operation, parameter S00040 contains the actual
velocity value estimated by means of a motor model.
See also Functional Description "Velocity Control"

S-0-0040 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Data length:
Format:

4Byte
DEC_MV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

39/1033

Standard Parameters
Unit:

S-0-0044

Cycl. tra.: AT

Extr. val. ch.:

Decim. pl.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.39

S-0-0045 /
S-0-0046
set switchable: --

--

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0041, Homing velocity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The product of "S00041, Homing velocity" and "S00108, Feedrate override"


determines the maximum velocity of the axis during "S00148, C0600 Drivecontrolled homing procedure command".
See also Parameter Description "S-0-0108, Feedrate override"
See also Functional Description "Establishing the Position Data Reference"

Record of Modifications

S-0-0041 - Attributes

Version

Attribute

GEN-02VRS

Extr. val. ch.: yes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: AT + MDT

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: +

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.40

Description

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
100,0000
100,0000
100,0000

S-0-0042, Homing acceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The value for acceleration is entered in this parameter. With this value, the drive
changes the internally generated velocity command value during the execution
of "S-0-0148, C0600 Drive-controlled homing procedure command".
The acceleration is limited to the value of "S-0-0138, Bipolar accel
eration limit value". The value of parameter "S-0-0042, Homing
acceleration" should always be smaller than the value of parameter
"S-0-0138, Bipolar acceleration limit value", because otherwise a
lag error will build up due to internal control processes. When the
value "0" is input for the parameter, the parameter "S-0-0138" will
take effect.

40/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
See also Functional Description "Establishing the Position Data Reference"
S-0-0042 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: --

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.41

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: +

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
1000,000
1000,000
1000,000

S-0-0043, Velocity polarity parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter it is possible to change, related to the application, the polarities


of the velocity data. The polarities aren't changed inside but outside (at the input
and output) of the controlled system.
See also Functional Description "Scaling of Physical Data"

Structure

Bit

Designation/function

velocity command value

Comment

0: positive polarity
1: negative polarity
1

velocity command value, additive


0: positive polarity
1: negative polarity

actual velocity value


0: positive polarity
1: negative polarity

Fig.3-9:

S-0-0043, Velocity polarity parameter

Bits 1 and 2 are copies of bit 0. Only changes in bit 0 are effective.
It is impossible to have different settings for the individual bits!
Use

S-0-0043 - Attributes

The following applies to rotary motors: A clockwise turn of the motor output
shaft results in a positive actual velocity value (positive polarity).

The following applies to linear motors: A move of the primary part in the
direction of the cable connection side results in a positive actual velocity
value (positive polarity).

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

41/1033

Standard Parameters
Input
MPB:
MPD:
MPH:

3.1.42

min./max.
0/7
0/7
0/7

Default value
0
0
0

S-0-0044, Velocity data scaling type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The scaling type of the velocity data determines in which format and which
reference the velocity data are exchanged between the drive and the control
unit or user interface.
Any change in the parameter setting has an effect on the scaling.
This means that changes in the parameter setting have effects on
the display and processing of velocity, position and acceleration
data in the drive!
See also Functional Description "Scaling of Physical Data"

Structure

Bit

Designation/function

2-0

scaling type

Comment

0 0 1: linear scaling
0 1 0: rotary scaling
3

0: preferred scaling
1: parameter scaling

unit for linear scaling


0: meter [m]
1: inch [in]
unit for rotary scaling
0: revolution
1: reserved

unit of time
0: minute [min]
1: second [s]

data reference
0: with respect to motor shaft
1: with respect to load

15-7

reserved

Fig.3-10:
Use

S-0-0044, Velocity data scaling type

The values of the velocity data parameters (e.g. "S00040, Velocity feedback
value") are displayed by the drive with the scaling that has been set. The scaling
setting is normally preset by the control unit.
In the case of preferred scaling (bit 3 = "0"), the following parameters are pre
defined and cannot be changed:

42/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

"S-0-0045, Velocity data scaling factor"

"S-0-0046, Velocity data scaling exponent"

In the case of parameter scaling, the scaling is realized by inputting the desired
parameter values.
S-0-0044 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.43

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

S-0-0045, Velocity data scaling factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the case of parameter scaling (see S00044), the scaling factor and the
decimal format (the decimal place) of the velocity data are determined via the
following parameters.

S-0-0045, Velocity data scaling factor and

S-0-0046, Velocity data scaling exponent

See also Functional Description "Scaling of Physical Data"


Use
S-0-0045 - Attributes

If preferred scaling is selected in S00044, Velocity data scaling type, the val
ues in S00045 and S00046 are set automatically by the drive.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.44

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax

Default value
1
1
1

S-0-0046, Velocity data scaling exponent


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the case of parameter scaling (see S00044), the scaling factor and the
decimal format (the decimal place) of the velocity data are determined via the
following parameters.

"S-0-0046, Velocity data scaling exponent" and

"S-0-0045, Velocity data scaling factor"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

43/1033

Standard Parameters
See also Functional Description "Scaling of Physical Data"
Use
S-0-0046 - Attributes

If preferred scaling is selected in "S00044, Velocity data scaling type", the


values in "S00045" and "S00046" are set automatically by the drive.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.45

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
-15 / 0
-15 / 0
-15 / 0

Default value
-------

S-0-0047, Position command value


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Function

The content and significance of S00047 are different for read and
write access!
Write Access
In the "position control" mode the control unit by means of "S00047" and in
the clock of its interpolation cycle time writes the cyclic position command val
ues to the drive.
If required, these position command values coming directly from the control unit
can be read via "P00047, Position command value control"!
The interpolation cycle time of the control unit (cf. S00001) can be
a multiple of the communication cycle time (cf. S00002) so that
P00047 is updated on the same time base, too!
Read Access
When S00047 is read, the effective position command value input at the input
of the position loop is displayed in the parameter, this value can also be dis
played via "P00434, Position command value of controller". The effective
position command values in the "position control" mode are the position com
mand values of the control unit, fine-interpolated, possibly filtered and jerklimited by the drive! Parameter S00047 is therefore updated on the time base
of the position loop cycle time (Advanced: 250s, Basic: 500s)!
S00047 is only updated in the "cyclic position control" mode and
P00434 in all operating modes in which the position control loop
is closed in the drive!
See also Functional Description "Position Control with Cyclic Command Value
Input"
S-0-0047 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Data length:
Format:

4Byte
DEC_MV

44/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Unit:

S-0-0076

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

3.1.46

Extr. val. ch.:

S-0-0077 /
S-0-0078
set switchable: --

Decim. pl.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0048, Additive position command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

If a synchronization mode with outer position control loop was selected, the
additive position command value is added in the drive to "P00434, Position
command value of controller". This allows establishing a position offset be
tween the actual position value of the slave axis and the synchronous position
command value which is derived from the master axis position.
See also Functional Description "Phase Synchronization with Real/Virtual Mas
ter Axis"

Use

When the synchronization mode is activated, synchronization is first carried out


taking the parameters "P00142, Synchronization acceleration" and
"P00143, Synchronization velocity" into account. As an alternative, you can
use single-step synchronization.
Then switching to the parameters "P00686, Additive position command value,
positioning velocity" and "P00687, Additive position command value, posi
tioning acceleration" takes place. The parameters P00142 und P00143
become ineffective.
Subsequent changes of S00048 are then traveled via a 2nd order interpolator
with def. velocity (P00686) and acceleration (P00687).
As a prerequisite, use of S00048 as process controller parameter mustn't
have been set (by bit 0 of "P00155, Synchronization mode"). With the setting
as process controller parameter, changes go through a 1st order filter the time
constant of which is determined by parameter "P00060, Filter time constant
additional pos. Command".

S-0-0048 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
PM->OM

Unit:

Extr. val. ch.:

S-0-0076

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.1.47

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
-------

S-0-0049, Positive position limit value


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

45/1033

Standard Parameters
Hardware
Funct. package(s):
Function

-closed loop

The allowed travel range of an axis can be defined by position limit values. The
greatest allowed actual position value (positive travel direction) is entered in
this parameter.
If an external encoder is used in addition to the motor encoder, the position limit
values either refer to

the encoder in reference

- or, if both encoders are in reference,

to the encoder that has been selected by bit 3 of "S00147, Homing pa


rameter".

See also Functional Description "Position Limit Values (Software Limit Switch)"
Use

Activation
The position limit value monitor is only active when the actual position values
of the motor encoder or, if available, the external encoder are referred to the
axis zero point, i.e. when an encoder has been homed. (Bit 1 or bit 2 in param
eter "S00403, Position feedback value status" must be 1).
Via bit 4 in "S00055, Position polarities" it is possible to switch off the position
limit value monitor.
Warning
If a "S00258, Target position" beyond the positive position limit value is preset
for the drive, it sets the warning bit 13 in "S00012, Class 2 diagnostics" and
generates the "E2053 Target position out of travel range" warning.
If the positive position limit value is exceeded, the drive sets the error bit 13 in
"S00011, Class 1 diagnostics".

S-0-0049 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Extr. val. ch.:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.48

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0050, Negative position limit value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The allowed travel range of an axis can be defined by position limit values. The
smallest allowed actual position value (negative travel direction) is entered in
this parameter.
If an external encoder is used in addition to the motor encoder, the position limit
values either refer to

the encoder in reference

- or, if both encoders are in reference, -

46/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

to the encoder that has been selected by bit 3 of "S00147, Homing pa


rameter".

See also Functional Description "Position Limit Values (Software Limit Switch)"
Use

Activation
The position limit value monitor is only active when the actual position values
of the motor encoder or, if available, the external encoder are referred to the
axis zero point, i.e. when an encoder has been homed. (Bit 1 or bit 2 in param
eter "S00403, Position feedback value status" must be 1).
Via bit 4 in "S00055, Position polarities" it is possible to switch off the position
limit value monitor.
Warning
If a "S00258, Target position" beyond the negative position limit value is preset
for the drive, it sets the warning bit 13 in "S00012, Class 2 diagnostics" and
generates the "E2053 Target position out of travel range" warning.
If the negative position limit value is exceeded, the drive sets the error bit 13 in
"S00011, Class 1 diagnostics".

S-0-0050 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Extr. val. ch.:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.49

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0051, Position feedback 1 value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The actual position value of encoder 1 shows the current position of the motor
encoder. After the drive is switched on, the actual position value is initialized,
i.e. set to an initial value, by the "S00128, C0200 Communication phase 4
transition check" command during the communication phase sequence.
See also Functional Description "Measuring Systems"

Use

If the motor encoder is an absolute measuring system, the value in "S00051,


Position feedback 1 value" displays

the position referring to the machine zero point, if the "P00012, C0300
Command Set absolute measuring" command was executed once during
initial commissioning and if, at the same time, the motor encoder had been
selected with bits 3 and 4 in "P00612, Control word for setting absolute
measuring".

first of all the current absolute position of the motor encoder during initial
commissioning. The absolute position does not have any reference to the
machine zero point until "P00012, C0300 Command Set absolute meas
uring" is executed for the first time.

If the motor encoder is an incremental measuring system, the value in


"S00051, Position feedback 1 value" displays

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

47/1033

Standard Parameters

S-0-0051 - Attributes

first of all the actual position value that has not been homed. It refers to
the value of "P00019, Initial position value". This value is assigned to the
initial encoder position (default value of P00019 is zero).

the position referring to the machine zero point, if the command "S00148,
C0600 Drive-controlled homing procedure command" was executed after
drive enable and if, at the same time, the motor encoder had been selected
with bit 3 in "S000147, Homing parameter".

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.50

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0052, Reference distance 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The desired actual position value with regard to a specific axis position (refer
ence position) is entered in this parameter. By means of the "S00148, C0600
Drive-controlled homing procedure command" or "P00012, C0300 Command
Set absolute measuring" commands the value entered in parameter S00052
becomes effective as the actual position value at the reference position.
This allows establishing a specific position reference system for an axis or
changing an existing reference system to a new one ("switching").
See also Functional Description "Establishing the Position Data Reference"

Use

Incremental Measuring Systems


In the case of incremental measuring systems the reference of the actual po
sition values to the axis zero point is established at a mechanically defined axis
reference position, the so-called home point, by the "Drive-controlled homing
procedure" command. After the homing procedure, the actual position value 1
at the home point corresponds to the values of parameter "S00052, Reference
distance 1". The actual position value 1 is the distance between this reference
point and the axis zero point.
Absolute Measuring Systems
In the case of absolute measuring systems the previous reference system of
the actual position values is switched to a new one at an axis reference position
by means of the "Set absolute measuring" command.
The reference position can

have a defined distance to the axis zero point and

be preset as an actual position value of the previous reference system


(before the change of the reference system).

If the reference position has a defined distance to the axis zero point, this dis
tance value has to be contained in the "S00052, Reference distance 1"
parameter when the reference system is switched by the command. After "Set

48/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
absolute measuring" the actual position value 1 at the reference position cor
responds to the value of parameter "S00052, Reference distance 1", if bit 1
of the "P00612, Control word for setting absolute measuring" parameter has
the value "0".
The actual position value the reference position had before switch
ing the reference system is stored in the "P00613, Reference
position: setting absolute measuring" parameter.
If the reference position is to be preset as the defined actual position value of
the previous reference system, it is to be entered in the "P00613, Reference
position: setting absolute measuring" parameter. In the "P00612, Control word
for setting absolute measuring" parameter the external setting of the reference
position has to be activated by bit 1 = 1. After executing the command, the new
actual position value at the reference position of the previous reference system
corresponds to the value of parameter "S00052, Reference distance 1".
S-0-0052 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: AT + MDT

Extr. val. ch.:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: +

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.51

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0053, Position feedback 2 value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The actual position value of encoder 2 shows the current position of the external
encoder. After the drive is switched on, the actual position value is initialized,
i.e. set to an initial value, by the "S00128, C0200 Communication phase 4
transition check" command during the communication phase sequence.
See also Functional Description "Measuring Systems"

Use

If the external encoder is an absolute measuring system, the value in "S00053,


Position feedback 2 value" displays

the position referring to the machine zero point, if the "P00012, C0300
Command Set absolute measuring" command was executed once during
initial commissioning and if, at the same time, the external encoder had
been selected with bits 3 and 4 in "P00612, Control word for setting ab
solute measuring".

first of all the current absolute position of the external encoder during initial
commissioning. The absolute position does not have any reference to the
machine zero point until "P00012, C0300 Command Set absolute meas
uring" is executed for the first time.

If the external encoder is an incremental measuring system, the value in


"S00053, Position feedback 2 value" displays

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

49/1033

Standard Parameters

S-0-0053 - Attributes

first of all the actual position value that has not been homed. It refers to
the value of "P00019, Initial position value". This value is assigned to the
initial encoder position (default value of P00019 is zero).

the position referring to the machine zero point, if the command "S00148,
C0600 Drive-controlled homing procedure command" was executed after
drive enable and if, at the same time, the external encoder had been se
lected with bit 3 in "S000147, Homing parameter".

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.52

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0054, Reference distance 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The desired actual position value with regard to a specific axis position (refer
ence position) is entered in this parameter. By means of the "S00148, C0600
Drive-controlled homing procedure command" or "P00012, C0300 Command
Set absolute measuring" commands the value entered in parameter S00054
becomes effective as the actual position value at the reference position.
This allows establishing a specific position reference system for an axis or
changing an existing reference system to a new one ("switching").
See also Functional Description "Establishing the Position Data Reference"

Use

Incremental Measuring Systems


In the case of incremental measuring systems the reference of the actual po
sition values to the axis zero point is established at a mechanically defined axis
reference position, the so-called home point, by the "Drive-controlled homing
procedure" command. After the homing procedure, the actual position value 2
at the home point corresponds to the values of parameter "S00054, Reference
distance 2". The actual position value 2 is the distance between this reference
point and the axis zero point.
Absolute Measuring Systems
In the case of absolute measuring systems the previous reference system of
the actual position values is switched to a new one at an axis reference position
by means of the "Set absolute measuring" command.
The reference position can

have a defined distance to the axis zero point and

be preset as an actual position value of the previous reference system


(before the change of the reference system).

If the reference position has a defined distance to the axis zero point, this dis
tance value has to be contained in the "S00054, Reference distance 2"
parameter when the reference system is switched by the command. After "Set

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Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
absolute measuring" the actual position value 2 at the reference position cor
responds to the value of parameter "S00054, Reference distance 2", if bit 1
of the "P00612, Control word for setting absolute measuring" parameter has
the value "0".
The actual position value the reference position had before switch
ing the reference system is stored in the "P00613, Reference
position: setting absolute measuring" parameter.
If the reference position is to be preset as the defined actual position value of
the previous reference system, it is to be entered in the "P00613, Reference
position: setting absolute measuring" parameter. In the "P00612, Control word
for setting absolute measuring" parameter the external setting of the reference
position has to be activated by bit 1 = 1. After executing the command, the new
actual position value at the reference position of the previous reference system
corresponds to the value of parameter "S00054, Reference distance 2".
S-0-0054 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.53

Extr. val. ch.:

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0055, Position polarities


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By means of this parameter it is possible to invert the polarities of the indicated


position data. The polarities are changed outside of the controlled system, i.e.
at the input and output of the controlled system.
The position polarity must be determined with the initial commis
sioning of an axis before establishing the machine zero point for the
measuring systems, because a change in the polarity causes dif
ferent actual position values.
The following applies to rotary motors:
A clockwise turn of the motor output shaft in the case of positive position com
mand value difference and positive polarity.
The following applies to linear motors:
A move of the primary part in the direction of the cable connection side in the
case of positive command value difference and positive polarity.
With bit 4 software position limit values are activated or deactivated.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

51/1033

Standard Parameters
Structure

Bit

Designation/function

position command val.

Comment

0: positive polarity
1: negative polarity
1

position command value, additive


0: positive polarity
1: negative polarity

actual position value 1


0: positive polarity
1: negative polarity

actual pos. value 2


0: positive polarity
1: negative polarity

position limit values


0: not active
1: active

Fig.3-11:

S-0-0055, Position polarities

Bits 1, 2 and 3 are copies of bit 0. Only changes in bit 0 are effective.
It is impossible to have different settings for the individual bits!
S-0-0055 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.54

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0 / 31
0 / 31
0 / 31

Default value
0
0
0

S-0-0057, Position window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

If an operating mode with internal position control is activated in the drive, sev
eral status messages are generated with regard to the positioning behavior of
the drive. To do this the "S00057, Position window" parameter, among others,
is used as a "window" for the following status messages and functionalities:
See also Functional Description "Positioning Block Mode"

Use

"In Position" ("S-0-0013", Class 3 diagnostics, Bit 6 =1)


|lag error (S-0-0189)| < position window (S-0-0057)

"IN_TARGET POS." ("P-0-0188", Status word positioning gen., Bit 1 =1)


|S-0-0258/P-0-0050 S-0-0051/53| < S-0-0057

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Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

"IZP" (P-0-0188, Status word positioning generator, Bit 2 =1)


IN_TARGET POSITION && IN_POSITION && Nact = 0

During the execution of the "S00148, C0600 Drive-controlled homing


procedure command" the drive signals the command to be completed,
when the internal position command value generator has reached its tar
get value and the difference between this final value and the actual
position value is smaller than the position window.

As a hysteresis window for the position limit value monitor. This means, if
the drive has passed the position limit value the travel range is additionally
limited by the position window.

If the position limit values are active, positioning is realized to the position
limit value position windows in the "Jogging" operating mode.

It is always over the shortest distance that the drive moves to target po
sitions that are within the position window, independent of the setting in
"S00393, Command value mode".

For the "Position spindle" command in order to show that the spindle is in
position.

See also Parameter Descriptions "P-0-0555, Controller status word"


indrv.fk.fwa.BA_PositSatzBetrieb "S-0-0013, Class 3 diagnostics"
S-0-0057 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: AT + MDT

Extr. val. ch.:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: +

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.55

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,1000
0,1000
0,1000

S-0-0058, Reversal clearance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The reversal clearance describes the absolute measure of backlash between


drive and load in the case of a reversal of direction, referring to the position
data.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

53/1033

Standard Parameters

Fig.3-12:

Graphical representation of the reversal clearance in the case of rever


sal of direction

See also Functional Description "Axis Error Correction"


Use

S-0-0058 - Attributes

When using the function, observe the following aspects:

By means of the backlash on reversal correction, it is easily possible to


correct backlash in the mechanical axis system.

The function is activated by inputting the backlash in parameter "S00058,


Reversal clearance".

The processing of the reversal clearance depends on:

direction of motion in the case of position-controlled operating modes

velocity command value (S-0-0036) and standstill window


(S-0-0124) in the case of velocity control

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.1.56

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0059, Position switch flag parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Bit 0 of this parameter displays the switch status of a "virtual", position-de


pendent switch. The switch positions are preset in S00060/S00460, Position
switch point 1 "On"/"Off" (cf. adjusting the switch-on/switch-off edge of a me
chanical switch cam).

54/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Structure

Bit

Designation/function

Comment

switch status of virtual switch


0: open
1: closed

Fig.3-13:
S-0-0059 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

S-0-0059, Position switch flag parameter


Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.57

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0060, Position switch point 1 "On"


Allocation

Function

Record of Modifications

S-0-0060 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter determines the switch-on position for a "virtual" position-de


pendent switch (cf. adjusting the switch-on position by mechanical switch
cams). If the actual position value is smaller than the switch-on position, the
respective bit of "S00059, Position switch flag parameter" is "0". Otherwise it
is "1" if the actual position value hasn't exceeded the value of S00460, Position
switch point 1 "Off".
Version

Attribute

GEN-02VRS

Validity ch.: P2-3

Comment

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: MDT

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.58

nein
----

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0076, Position data scaling type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The scaling type of the position data determines in which format and which
reference the position data are exchanged between the drive and the control

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

55/1033

Standard Parameters
unit or user interface. The values of the position data parameters (e.g.
"S00051, Position feedback 1 value") are displayed by the drive with the scal
ing that has been set. The scaling setting is normally preset by the control unit.
Any change in the parameter setting has an effect on the scaling.
This means that changes in the parameter setting have effects on
the display and processing of velocity, position and acceleration
data in the drive!
See also Functional Description "Scaling of Physical Data"
Structure

Bit

Designation/function

2-0

scaling type

Comment

0 0 1: linear scaling
0 1 0: rotary scaling
3

0: preferred scaling
1: parameter scaling

unit for linear scaling


0: meter [m]
1: inch [in]
unit for rotary scaling
0: angular degrees
1: reserved

reserved

data reference
0: with respect to motor shaft
1: with respect to load

processing format
0: absolute format
1: modulo format

15-8

reserved

Fig.3-14:
Use

S-0-0076, Position data scaling type

In the case of preferred scaling (bit 3 = "0"), the following parameters are pre
defined and cannot be changed:

S-0-0077, Linear position data scaling factor

S-0-0078, Linear position data scaling exponent

S-0-0079, Rotational position resolution

In the case of parameter scaling (bit 3 = "1"), the scaling is realized by inputting
the desired values in the mentioned parameters.
See also example in description of "S-0-0077, Linear position data
scaling factor".
S-0-0076 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Data length:
Format:

2Byte
BIN

56/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: +

Input
MPB:
MPD:
MPH:

3.1.59

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

S-0-0077, Linear position data scaling factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the case of linear parameter scaling (see S00076), the scaling factor and
the decimal format (the decimal place) of the position data parameters are de
termined with this parameter and with "S00078, Linear position data scaling
exponent".
If preferred scaling is selected in "S00076, Position data scaling type", the
values in S00077 and S00078 are set automatically by the drive.
Any change in the parameter setting has an effect on the scaling.
This means that changes in the parameter setting have effects on
the display and processing of velocity, position and acceleration
data in the drive!
See also Functional Description "Scaling of Physical Data"

Use

Example for position data display in the case of linear scaling:


Physical actual position value of the motor encoder equals 0.12 m (meters).
A) Selected scaling = linear preferred scaling (S00077 = 1, S00078 = 7). The
result of this is the numeric value 1200000 for "S00051, Position feedback 1
value" (with unit mm and 4 decimal places).
B) Selected scaling = linear parameter scaling (S00077 = 3, S00078 = 7).
The result of this is the numeric value 400000 for "S00051, Position feedback
1 value" (with unit mm and 4 decimal places).

S-0-0077 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.60

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax

Default value
1
1
1

S-0-0078, Linear position data scaling exponent


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

57/1033

Standard Parameters
Function

In the case of linear parameter scaling (see S00076), the scaling factor and
the decimal format (the decimal place) of the position data parameters are de
termined with this parameter and with "S00077, Linear position data scaling
factor".
Any change in the parameter setting has an effect on the scaling.
This means that changes in the parameter setting have effects on
the display and processing of velocity, position and acceleration
data in the drive!
See also Functional Description "Scaling of Physical Data"

Use

If preferred scaling is selected in "S00076, Position data scaling type", the


values in S00077 and S00078 are set automatically by the drive.
See also example in description of "S-0-0077, Linear position data
scaling factor".

S-0-0078 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.61

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
-15 / 0
-15 / 0
-15 / 0

Default value
-------

S-0-0079, Rotational position resolution


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the case of rotary parameter scaling (see S00076), the smallest angle value
is determined with this parameter for the rotary position data parameters.

Fig.3-15:

Smallest angle value for the rotary position data parameters

See also Functional Description "Scaling of Physical Data"


Use

S-0-0079 - Attributes

The smallest angle value can refer to the motor or the load (see S00076). If
rotary preferred scaling is set (see S00076), the value in "S00079, Rotational
position resolution" is fixed to 3.600.000. The smallest angle value is therefore
fixed to 0,0001 degree of angle for all rotary position data.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
1 / 0xFFFFFFFF

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
3600000

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Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
MPD:
MPH:

3.1.62

1 / 0xFFFFFFFF
1 / 0xFFFFFFFF

3600000
3600000

S-0-0080, Torque/force command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the "Torque/force control" mode the command value is generated directly by


the control unit and entered in this parameter.
In all other operating modes the torque/force command value is generated by
the velocity controller and optionally by a torque/force lookahead.
The torque/force command value generated by higher-level control
loops is contained in the "P00049, Effective torque/force com
mand value" parameter and can be cyclically transmitted to the
control unit for diagnosis or process purposes and/or be visualized
via the analog output.
See also Functional Description "Torque/Force Control"

Use

Another value ("S00081, Additive torque/force command") can be added to


the torque/force command value (S00080). Several limit values act on the
sum of both values (P-0-0049) before it is transmitted to the current controller.
The resulting limit values can be queried via parameters:

P-0-0442, Actual value torque limit positive (stationary)

P-0-0443, Actual value torque limit negative (stationary)

P00444, Actual value peak torque limit

The unit of the parameter depends on the settings in the S00086, Torque/
force data scaling type and P00640, Cooling type parameters.
S-0-0080 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

S-0-0086

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.1.63

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

Comb. check: -min./max.


S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
0,0
0,0
0,0

S-0-0081, Additive torque/force command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By this parameter the master can, depending on the process, have a torque/
force feedforward value added in the controller.
See also Functional Description "Torque/Force Control"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

59/1033

Standard Parameters
Use

Several limit values act on the sum of both values (P-0-0049) before it is trans
mitted to the current controller. The resulting limit values can be queried via the
following parameters:

P-0-0442, Actual value torque limit positive (stationary)

P-0-0443, Actual value torque limit negative (stationary)

P00444, Actual value peak torque limit

The unit of the parameter depends on the settings in the "S00086, Torque/
force data scaling type" and "P00640, Cooling type" parameters.
In the torque/force control mode it generally does not make sense
to use this parameter, because the control unit should only preset
one command value ("S00080, Torque/Force command")! Feed
forward values should already be contained in the value of
S00080, if required!
S-0-0081 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

S-0-0086

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.1.64

Comb. check: --

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
0,0
0,0
0,0

S-0-0082, Torque/force limit value positive


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter allows determining a torque or force limit value for positive tor
que/force command values. This limit value only takes effect with regard to the
torque command value of the velocity controller (P00049) and not with regard
to command values from the acceleration feedforwards (S00348, P01126).
Positive torque takes effect in the case of:

motive operation at positive velocity

regenerative operation at negative velocity

See also Functional Description "Torque/Force Limitation"


Use

The unit for the values of this parameter depends on the scaling that has been
set ("S00086, Torque/force data scaling type").

60/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

S-0-0082 - Attributes

This limit value takes effect in a unipolar way. There are also
the bipolar limit values "S00092, Bipolar torque/force limit
value" and "P00109, Torque/force peak limit". The lowest
value in the above parameters is the active limit value.

The effective positive limit value is displayed in "P00442, Ac


tual value torque limit positive (stationary)" (including loaddependent limits due to motor and controller).

If higher torque or force than in stationary operation (constant


velocity command value) is to be available to the drive for ac
celeration processes, this can be achieved by a higher value
in S00092 compared to S00082, in case the acceleration
feedforward has been activated. Parameter S00082 then
limits to maximum, positive load torque/maximum load force
and parameter S00092 limits to the sum of acceleration tor
que and load torque/load force.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0086

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

3.1.65

Extr. val. ch.:

Comb. check: --

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: +

min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
400,0
400,0
400,0

S-0-0083, Torque/force limit value negative


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter allows determining a torque or force limit value for negative
torque/force command values. This limit value only takes effect with regard to
the torque command value of the velocity controller (P00049) and not with
regard to command values from the acceleration feedforwards (S00348,
P01126). Negative torque takes effect in the case of:

motive operation at negative velocity

regenerative operation at positive velocity

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 ("S00086, Torque/force data scaling type").

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

61/1033

Standard Parameters

S-0-0083 - Attributes

This limit value takes effect in a unipolar way. There are also
the bipolar limit values "S00092, Bipolar torque/force limit
value" and "P00109, Torque/force peak limit". The lowest
value in the above parameters is the active limit value.

The effective negative limit value is displayed in "P00443,


Actual value torque limit negative (stationary)" (including loaddependent limits due to motor and controller).

If higher torque or force than in stationary operation (constant


velocity command value) is to be available to the drive for ac
celeration processes, this can be achieved by a higher value
in S00092 compared to S00083, in case the acceleration
feedforward has been activated. Parameter S00083 then
limits to maximum, negative load torque/maximum load force
and parameter S00092 limits to the sum of acceleration tor
que and load torque/load force.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0086

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

3.1.66

Extr. val. ch.:

Comb. check: --

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: +

min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
-------

S-0-0084, Torque/force feedback value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Display parameter for the actual torque/force value currently effective.


Calculating the actual torque/force value

Fig.3-16:

Relation for calculating the actual torque/force value

The value displayed in S00084 is only an approximation of the


torque or the force of the motor actually generated!
See also Functional Description "Current/Torque/Force Limitation"
Use

Torque factor
The torque factor mentioned in the above formula depends on the functional
principle of the motor and on the type of construction of the motor:

Synchronous motor: The torque factor corresponds to the torque/force


constant (P00051), independent of whether the motor is in field weak
ening or not.

62/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

Asynchronous motor: In the base speed range the torque factor corre
sponds to the torque/force constant (P00051), in the field weakening
range it is determined firmware-internally and in speed-dependent form
on the basis of P00051.

The unit for the values of this parameter depends on the scaling that has been
set (S00086, Torque/force data scaling type).
S-0-0084 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT

Comb. check: --

Input
MPB:
MPD:
MPH:

3.1.67

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0085, Torque/force polarity parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter it is possible to invert the polarities of the indicated torque/


force data with regard to the application. The polarities are changed outside of
the controlled system, i.e. at the input and output of the controlled system.
The following applies to rotary motors:
A clockwise turn of the motor output shaft in the case of positive torque and
positive polarity.
The following applies to linear motors:
A move of the primary part in the direction of the cable connection side in the
case of positive force and positive polarity.
See also Functional Description "Scaling of Physical Data"

Structure

Bit

Designation/function

torque command value

Comment

0: positive polarity
1: negative polarity
1

torque command value additive


0: positive polarity
1: negative polarity

actual torque value


0: positive polarity
1: negative polarity

Fig.3-17:

S-0-0085, Torque/force polarity parameter

Bits 1 and 2 are copies of bit 0. Only changes in bit 0 are effective.
It is impossible to have different settings for the individual bits!

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

63/1033

Standard Parameters
S-0-0085 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.68

PM
PM->OM
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0/7
0/7
0/7

Default value
0
0
0

S-0-0086, Torque/force data scaling type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The unit and reference of the torque/force data of a drive are set by this pa
rameter:

percentage-based scaling (% of reference value, see below)

rotary scaling (Nm, inlbf)

linear scaling (N, lbf)


Any change in the parameter setting has an effect on the scaling.
This means that changes in the parameter setting have effects on
the display and processing of velocity, position and acceleration
data in the drive!

See also Functional Description "Scaling of Physical Data"


Structure

Bit

Designation/function

2-0

scaling type
0 0 0: percentage-based scaling
0 0 1: linear scaling (force)
0 1 0: rotary scaling (torque)

unit for force


0: Newton [N]
1: pound-force [lbf]
unit for torque
0: Newton meter [Nm]
1: inch pound-force [inlbf]

data reference
0: with respect to motor shaft
1: with respect to load

15-7

reserved

Fig.3-18:

S-0-0086, Torque/force data scaling type

Comment

64/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Freely parameterizable scaling (parameter scaling) is impossible
for the torque/force data!
Use

Calculating the Reference Value


In the case of percentage-based scaling, a reference value (100%-value) for
torque/force data is required.

Fig.3-19:

S-0-0086 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Calculating the reference value for torque/force data

In the case of MHD, MKD and MKE motors, the reference val
ue corresponds to the continuous torque at standstill (depend
ing on cooling type factor).

In the case of 2AD, MAD, ADF and MAF motors, as well as


rotary and linear kit motors, the reference value also corre
sponds to the continuous torque at standstill or the continuous
force at standstill, the cooling type factor is "1.0" (P00640 is
inactive) due to the non-variable cooling type!

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.69

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0
0
0

S-0-0087, Transmit to transmit recovery time (TATAT)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The "transmit to transmit recovery time (TATAT)" is the time required between
two drive telegrams when they are sent by the same slave (double-axis device).
For slaves with one drive only this parameter is not available. The "transmit to
transmit recovery time" is read by the master in communication phase 2, in
order to correctly calculate the transmission starting times of the drive
telegrams T1 (S00006).
See also Functional Description "Communication with SIS Protocol"

S-0-0087 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
-us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

65/1033

Standard Parameters
MPD:
MPH:

3.1.70

--- / ----- / ---

-----

S-0-0088, Receive to receive recovery time (TMTSY)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The time the slave needs to be ready to receive the next master synchronization
telegram after having received a master data telegram is defined in this pa
rameter. The parameter is read by the control unit in phase 2 in order to
calculate the time slot parameters.
See also Functional Description "Communication with SIS Protocoll"

S-0-0088 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-us
--

Input
MPB:
MPD:
MPH:

3.1.71

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

S-0-0089, MDT Transmit starting time (T2)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Transmit starting time of the master data telegram after the end of the master
synchronization telegram. In communication phase 2 the value is transmitted
from the master to the slave and activated in phase 3.
See also Functional Description "Communication with SIS Protocol"

S-0-0089 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

3.1.72

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

min./max.
0 / 65000
0 / 65000
0 / 65000

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
600
600
600

S-0-0090, Command value proceeding time (TMTSG)


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

66/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

Time required in the slave to provide the command values for the drive after
having received the master data telegram.
In communication phase 2 the master reads the time in order to calculate the
"Command valid time (T3)" (S00008).
See also Functional Description "Communication with SIS Protocol

S-0-0090 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.73

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0091, Bipolar velocity limit value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Depending on the application, this parameter indicates the value for the maxi
mum allowed velocity command value of the motor, independent of the sense
of rotation.
The maximum value for S00091 is the value of "S00113, Maximum motor
speed". This value also is the maximum value for all other velocity parameters.
Depending on the sense of rotation, the maximum velocity limit van be influ
enced by the parameters "S00038, Positive velocity limit value" and
"S00039, Negative velocity limit value". These two parameters have the de
fault value "0" and thereby are switched off, only S00091 takes effect.
See also Functional Description "Velocity Limitation"

Record of Modifications

S-0-0091 - Attributes

Version

Attribute

GEN-02VRS

Extr. val. ch.: yes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.1.74

Comment

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: +

Comb. check: -min./max.


S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
1000,0000
1000,0000
1000,0000

S-0-0092, Bipolar torque/force limit value


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

67/1033

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

By this parameter it is possible to limit the torque/force command value to al


lowed maximum values in order to protect the mechanical components.
See also Functional Description "Torque/Force Control"

Use

The parameter acts in a bipolar way, i.e. positive and negative command values
are limited to the entered value. The limitation acts on the sum of all torque
command values, i.e. on the sum of the command value components of the
velocity controller output and the command value components from accelera
tion-dependent feedforwards ("S00348, Acceleration feedforward gain";
"P01126, Velocity control loop: acceleration feedforward"). The unit of
"S00092" depends on the scaling that has been set.
See also Parameter Description "S00086, Torque/Force data scaling type".

The effective limit value is displayed in "P00049, Effective


torque/force command value". This value can be limited with
regard to S00092, due to a lower value in "P00109, Torque/
force peak limit" or due to a current limit by the respective work
load of amplifier or motor.

If in stationary operation (constant speed) a lower torque than


in the case of acceleration processes is to be made available
to the drive, this can be achieved by appropriate values of
"S00082, Torque/force limit value positive" and "S00083,
Torque/force limit value negative" in conjunction with acceler
ation feedforward (S00348 or P01126).

The bipolar torque/force limit value also acts on "C1300 Positive stop drive
procedure command", the value of S00092 is a criterion for the acknowledg
ment of C1300.
S-0-0092 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0086

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.1.75

Extr. val. ch.:

Comb. check: --

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: +

min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
400,0
400,0
400,0

S-0-0093, Torque/force data scaling factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is always adapting itself to the selected preferred scaling. The
parameter cannot be changed!
Freely parameterizable scaling (parameter scaling) is impossible
for the torque/force data!
See also Functional Description "Torque/Force Control"

68/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
S-0-0093 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.76

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0094, Torque/force data scaling exponent


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is always adapting itself to the selected preferred scaling. The
parameter cannot be changed!
Freely parameterizable scaling (parameter scaling) is impossible
for the torque/force data!

S-0-0094 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.77

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0095, Diagnostic message


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains the operating status of the drive at present relevant in
the form of a text.
Preceding the text is the respective content of parameter "S00390, Diagnostic
message number".
Example: "A0010 Drive HALT"
See also Functional Description "Coded Diagnostic Drive Messages"

S-0-0095 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

69/1033

Standard Parameters
MPD:
MPH:

3.1.78

--- / ----- / ---

-----

S-0-0096, Slave arrangement (SLKN)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

During the initialization the master has to know which drives are available under
which slave number in order to be able to carry out an optimum automatic time
slot calculation.
See also Functional Description "Master Communication"

Structure

High byte: "Own drive address"

The drive here enters its own address

Low byte: "Next drive address"

Use

The slave, in ascending order, here enters the next higher drive address
that it controls.

If the current drive is the one with the highest address at the physical slave,
the slave here enters the lowest drive address that is available at the slave.

If the slave only controls one drive, "Own drive address" is entered here.

By the respective entry the master recognizes which drive address the ad
dressed slave possesses. For an optimum automatic time slot calculation by
the master it is necessary, during the initialization, to know which drives belong
to the physical slaves that are controlling them. In phase 2 the master can re
quest this information from the drive. By the respective entry the master
recognizes whether there are further drives available at the same physical
slave.
Example for address 3:

Content of S-0-0096

High byte

Low byte

03

03

See also Parameter Description "P-0-4031, Overview of device addresses"


S-0-0096 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.79

nein
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0097, Mask class 2 diagnostics


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

70/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

With this parameter it is possible to adjust the change bit of class 2 diagnostics
in the drive status to the requirements of the machine control unit.
Due to the default setting in parameter S00097 (all bits are "1") every change
of a bit in the "S00012, Class 2 diagnostics" parameter is displayed by the
change bit of class 2 diagnostics in the drive status word.
The S00012 parameter is a message parameter that displays dif
ferent shutdown pre-warnings of the drive by means of the individ
ual bits.
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters"

Use

If only the change of specific shutdown pre-warnings of the drive is to be queried


on the control-side by means of the change bit of class 2 diagnostics in the drive
status word, the display of irrelevant pre-warning changes can be suppressed
("masked") by this parameter (S00097).
The irrelevant bits of the "S00012, Class 2 diagnostics" parameter are masked
by the value "0" at the same position of the bit list of this parameter (S00097).

S-0-0097 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.1.80

P234
P2->P3
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0xFFFF
0xFFFF
0xFFFF

S-0-0098, Mask class 3 diagnostics


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

With this parameter it is possible to adjust the change bit of class 3 diagnostics
in the drive status to the requirements of the machine control unit.
Due to the default setting in parameter S00098 (all bits are "1") every change
of a bit in the "S00013, Class 3 diagnostics" parameter is displayed by the
change bit of class 3 diagnostics in the drive status word.
The S00013 parameter is a message parameter that displays dif
ferent operating states of the drive by means of the individual bits.
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters"

Use

If only the change of specific operating states of the drive is to be queried on


the control-side by means of the change bit of class 3 diagnostics in the drive
status word, the display of irrelevant operating state changes can be sup
pressed ("masked") by this parameter (S00098).
The irrelevant bits of the "S00013, Class 3 diagnostics" parameter are masked
by the value "0" at the same position of the bit list of this parameter (S00098).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

71/1033

Standard Parameters
S-0-0098 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.1.81

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
P2->P3
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0xFFFF
0xFFFF
0xFFFF

S-0-0099, C0500 Reset class 1 diagnostics


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to start the command for resetting


error messages. When the causes of the errors are removed, all present error
messages are reset and the drive goes to its regular status.
As an alternative you can activate the command for resetting error
messages by pressing the "Esc" key on the control panel of the drive
controller!

Damage to the internal memory (flash) caused by too many write ac


cesses
During the execution of this parameter command, data are written to the in
ternal memory (flash). As each flash only allows a limited number of write
accesses before its memory locations are destroyed, you should make sure
that such write accesses won't be carried out too often.

CAUTION

See also Functional Description "Error"


S-0-0099 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.1.82

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0100, Velocity loop proportional gain


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The speed loop generates a torque/force command value (P00049) from the
difference of velocity command value and actual velocity value (= S00347,
Velocity error).
See also Functional Description "Control Loop Structure"

72/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
See also Functional Description "Velocity Control"
Use

This torque/force command value consists of:

a proportional component

Fig.3-20:

Torque/force command value (proportional component)

an integral component

Fig.3-21:

Torque/force command value (integral component)

The transfer function for the PI loop is the following:

Fig.3-22:

Transfer function for the PI loop

The parameter S00100 contains the value for the proportional


gain of the velocity loop. The output value at the velocity loop was
standardized to Newton (N) or Newton meter (Nm).
Unit, decimal places
The drive firmware automatically adjusts the unit and decimal places to the type
of construction of the motor (rotary or linear) entered in "P04014, Type of
construction of motor".
Unit for type of constr. of motor (P04014) Decimal places for type of constr. of motor
(P04014)
rotary

linear

rotary

linear

Nm/(rad/s)

N/(mm/min)

Fig.3-23:

Unit and decimal places of S-0-0100, depending on P-0-4014

In comparison to EcoDrive 03 and Diax 04, the numeric values for


S00100 change respectively. The "new input values" are calcula
ted as follows:
Rotary motors:

Fig.3-24:

New input values for S-0-0100

Linear motors:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

73/1033

Standard Parameters

Fig.3-25:

New input values for S-0-0100

By means of the "load defaults procedure" command, it is possible to load a


default value for this parameter, if a motor with motor encoder data memory is
available (see "P04014, Type of construction of motor").
S-0-0100 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
P-0-4014
MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,000 / MaxLong
0,000 / MaxLong
0,000 / MaxLong

3.2

S-0-0101 - S-0-0200 Standard Parameters

3.2.1

S-0-0101, Velocity loop integral action time


Allocation

Function

Use

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
P-0-4014
set switchable: +

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

Default value
0,050
0,050
0,050

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The speed controller generates a torque/force command value (P00049) from


the difference of velocity command value and actual velocity value (=S00347,
Speed deviation).
This torque/force command value consists of:

Fig.3-26:

Torque/force command value (proportional component)

Fig.3-27:

Torque/force command value (integral component)

The transfer function for the PI loop is the following:

Fig.3-28:

Transfer function for the PI loop

See also Functional Description "Velocity Control"


Definition of the Integral Action Time

74/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
The integral action time (S00101) is the value on the time axis at
which the integral component equals the proportional component.
This means that it is the time a mere Icontroller would need until
the controller output value y would equal the output value of a
Pcontroller at the time t = 0.

Fig.3-29:

Explanation integral action time (TN) and proportional gain Kp with the
PI loop

The integral component is switched off with the input value


S00101 = 0 ms.
S-0-0101 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
MDT

Input
MPB:
MPD:
MPH:

3.2.2

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
0,0 / 6553,5
0,0 / 6553,5
0,0 / 6553,5

Default value
100,0
100,0
100,0

S-0-0103, Modulo value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

When the modulo format has been set (parameter "S00076, Position data
scaling type", bit 7), the modulo value determines at which numeric value the
position data overflow to "0".
See also Parameter Description "S-0-0393, Command value mode"
See also Functional Description "Notes on Commissioning"

Use

Observe the following for setting S00103:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

75/1033

Standard Parameters

S-0-0103 - Attributes

The value in S00103 must be smaller than the value of "S00278, Max
imum travel range", otherwise the drive signals "C0123 Modulo value for
motor encoder cannot be displayed".

The modulo value also influences bit 6 of "S00277, Position feedback 1


type" or "S00115, Position feedback 2 type". This bit shows the possi
bility of absolute evaluation of the encoder.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

--

S-0-0076

Cycl. tra.: --

Extr. val. ch.:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.2.3

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
360,0000
360,0000
360,0000

S-0-0104, Position loop Kv-factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The drive controller has a cascade structure, i.e. for the current controller there
is the higher-level velocity controller and for the velocity controller there is the
higher-level position controller.
The "S00104, Position loop Kv-factor" parameter includes the value for the
proportional gain of the position controller.
See also Functional Description "Axis Control (Closed-Loop Operation)"

Use

The unit of "S-0-0104, Position loop Kv-factor" is "1000 1/min".


Example of Conversion

Fig.3-30:

S-0-0104, Position loop Kv-factor

In the case of all MHD, MKD and MKE motors, the basic settings
for the controllers are contained in the motor encoder data memory
and can be loaded to the drive by executing the S-0-0262, C07_x
Load defaults procedure command.
S-0-0104 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
1000/min
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,00 / 655,35

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +
Default value
1,00

76/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
MPD:
MPH:

3.2.4

0,00 / 655,35
0,00 / 655,35

1,00
1,00

S-0-0106, Current loop proportional gain 1


Allocation

Function

Use

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to define the P-gain for the current loop (for the Id and
Iq control loop). Parameterization of the current loop proportional gain depends
on the control performance (current loop clock TA,i) and the selected switching
frequency (cf. P-0-0001).
Notes on utilization for Rexroth motors
For each Rexroth motor the value for S-0-0106 referring to "P-0-0001, Switch
ing frequency of the power output stage" = 4 kHz is made available:

In the case of motors with data memory in the motor encoder (MSK, MHD,
MKD, MKE and possibly MAD, MAF), via the value of P-0-2106, Current
loop proportional gain 1, encoder memory stored in this memory.

In the case of motors without encoder data memory (2AD, ADF, possibly
MAD, MAF and kit motors 1MB, MBS, MBT, LSF, MLF), via the commis
sioning software (e.g. IndraWorks) or the Intranet output of the manufac
turer-side data base "DriveBase".

The adjustment of the values of S-0-0106 to the selected PWM frequency


P-0-0001, Switching frequency of the power output stage and performance
P-0-0556, Control word of axis controller takes place

automatically at "load controller parameters" (S-0-0262, C07_x Load de


faults procedure command) for motors with encoder data memory (see
above), if switching frequency and control performance had already been
set.

manually by the commissioning staff for motors without encoder data


memory (see above).

automatically by command start or manually by the commissioning staff


for third-party motors (see below).

When the value of S 0 0106 is manually adjusted to the switching frequency


(P-0-0001) and performance (P-0-0556) which were set, the value referring to
P-0-0001 = 4 kHz must be converted as follows:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

77/1033

Standard Parameters

S-0-0106
(4kHz):

Fig.3-31:

value of current loop proportional gain 1 with P-0-0001 = 4kHz

Determining the value of S-0-0106 depending on P-0-0001, Switching


frequency of the power output stage

Notes on utilization for third-party motors


For third-party motors, the value for S-0-0106, suitable for the PWM frequency
and performance which was set, is automatically determined by

commands C3200 and C3600 for asynchronous motors

command C4600 for synchronous motors

The value of S-0-0106(4kHz) can be calculated manually, too:

S-0-0106(4kHz) current loop proportional gain 1 referring to P-0-0001 =4kHz


k_winding_4kHz:
factor for winding type and winding body material, referring to P-0-0001
=4kHz, see below
L12:
inductance between motor terminals in mH
LDr:
inductance of a three-phase choke in motor feed wire in mH

Fig.3-32:

Functional
principle of
motor

synchro
nous motor

asynchro
nous motor

Fig.3-33:

Calculating the value for S-0-0106 (referring to 4 kHz) for third-party


motors

Winding design

Winding body
material

k_
windings_4kH

Motor types, exem


plary

ironless

1,33

--

with iron

1,67

(MBT; MBSxx2; MLF)

distributed wind
ing

ironless

1,87

Trilogy110; 210; 310

with iron

1,76

(LSF, MBS)

distributed wind
ing

with iron

1,33

(1MB)

toothed winding

k_windings_4kHz depending on functional principle of motor, winding


design and winding body material

The value for the winding inductance between the motor terminals
(L12) must take saturation effects of the material into account at
max. allowed current, if necessary!

78/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
For motors without encoder memory or third-party motors, you
should not deviate from the setting recommended for S 0 0106!
S-0-0106 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V/A
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.5

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
StdNul / Max50T
StdNul / Max50T
StdNul / Max50T

Default value
8,00
8,00
8,00

S-0-0107, Current loop integral action time 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The value for the current loop integral action time 1 is motor-specific and is
determined individually for each motor type.

Use

Writing the correct value to this parameter:

In the case of MHD, MKD, MKE and possibly MAD, MAF, au


tomatically at initial commissioning.

In the case of linear and rotary kit motors and possibly MAD,
MAF, by loading the motor parameters with the commissioning
tool.

In the case of other motors by manual input.

The values of the current controller that have been set at the factory
should not be changed!
For third-party motors
For third-party motors, the value for S-0-0107 is automatically determined by

commands C3200 and C3600 for asynchronous motors

command C4600 for synchronous motors

The value of S-0-0107 can be calculated manually, too:

kTn_windings:
L12:
LDr:
R12:
RDr:

Fig.3-34:

factor for winding type and winding body material for integral action time
calculation
winding inductance between motor terminals in mH
inductance of a three-phase choke in motor feed wire in mH
winding resistance between motor terminals in Ohm
resistance of a three-phase choke in motor feed wire in Ohm

Calculating S-0-0107

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

79/1033

Standard Parameters
The factor kTn_windings for integral action time calculation depends on the winding
type and the winding body material:
Functional
principle of
motor

synchro
nous motor

asynchro
nous motor

Fig.3-35:

Winding design

Winding body
material

k_
windings_4kH

Motor types, exem


plary

ironless

1,0

--

with iron

1,25

(MBT; MBSxx2; MLF)

distributed wind
ing

ironless

1,4

Trilogy110; 210; 310

with iron

1,33

(LSF, MBS)

distributed wind
ing

with iron

1,0

(1MB)

toothed winding

k_windings_4kHz depending on functional principle of motor, winding


design and winding body material

The value for the winding inductance between the motor terminals
(L12) must take saturation effects of the material into account at
max. allowed current, if necessary!
S-0-0107 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

3.2.6

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
2,0
2,0
2,0

S-0-0108, Feedrate override


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The parameter "S00108, Feedrate override" is used for variable adjustment


of an interpolation velocity that was permanently set before.
To do this the effective interpolation velocity

S-0-0041, Homing velocity

S-0-0259, Positioning Velocity

P-0-4007, Positioning block velocity

is generated by multiplication with the value of "S00108, Feedrate override".


See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Internal Interpolation"
Use

The feedrate override takes effect in all interpolating operating modes and
commands, such as:

drive-internal interpolation

80/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

drive-controlled positioning

positioning block mode

jog mode

commands with which the drive is moved in an interpolating way (e.g.


"S00148, C0600 Drive-controlled homing procedure command")
The parameter "S00108, Feedrate override" can be both cyclically
configured and assigned to an analog input so that it can be opti
mally used for the so-called manual mode.

S-0-0108 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.7

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

min./max.
0,00 / 600,00
0,00 / 600,00
0,00 / 600,00

Default value
100,00
100,00
100,00

S-0-0109, Motor peak current


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Maximum allowed current that may temporarily flow in the motor.


See also Functional Description "Limitations"

Use

Writing the correct value to this parameter:

In the case of MHD, MKD, MKE, automatically at initial commissioning.

In the case of 2AD, ADF, linear and rotary kit motors, by loading the motor
parameters with the commissioning software (e.g. IndraWorks).

In the case of other motors, manual input according to manufacturer's specifi


cation.
S-0-0109 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
A eff
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.8

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
StdNul / 1000,000
StdNul / 1000,000
StdNul / 1000,000

Default value
5,000
5,000
5,000

S-0-0110, Amplifier peak current


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

81/1033

Standard Parameters
Function

Peak current of the controller. The value is set automatically by the device. This
current is only available temporarily.
See also Functional Description "Limitations"

S-0-0110 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-A eff
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.9

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0111, Motor current at standstill


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The value of this parameter is the torque-/force-generating component of the


continuous motor current when the motor is loaded with the least allowed cool
ing type, with the continuous torque ensured at standstill or with the ensured
continuous force (see motor data sheet).
See also Functional Description "Rexroth Motors"

Use

The value is motor-dependent. In the case of MHD, MKD and MKE motors, it
is stored in the motor encoder. When the drive is switched on for the first time,
the value is loaded from there together with other motor parameters. In the case
of all other motor types, the value of the motor current at standstill, together
with other motor parameters, is loaded to the drive or input by means of the
commissioning software (e.g. IndraWorks). In case the motor type is not con
tained in the commissioning software data base, the value is to be manually
entered together with the other motor parameters.
If percentage-based scaling has been set in the "S00086, Torque/
force data scaling type" parameter, this parameter is included in the
calculation of the reference value (100% value).

S-0-0111 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
A eff
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.10

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
StdNul / Max500T
StdNul / Max500T
StdNul / Max500T

Default value
1,000
1,000
1,000

S-0-0112, Amplifier nominal current


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

82/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

This parameter displays the maximum possible continuous current of the drive.
Note: In the case of rotary field frequencies smaller than 3 Hz, the
possible amplifier continuous current is reduced by means of a
temperature model (see Technical Data in hardware Project Plan
ning Manual!).
See also Functional Description "Limitations"

S-0-0112 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-A eff
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.11

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0113, Maximum motor speed


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Value for the maximum allowed velocity command value of the motor. The ac
tual velocity value may be a maximum of 12.5% higher than the value of
S00113, with higher actual values the drive reacts with torque disable and
generates the error message "F8079 Velocity limit S00091 exceeded".
See also Functional Description "Limitations"

Use

Writing the correct value to this parameter:

In the case of MHD, MKD, MKE, automatically at initial commissioning.

In the case of 2AD, ADF, linear and rotary kit motors, by loading the motor
parameters with the "IndraWorks D" commissioning tool.

In the case of other motors, manual input according to manufacturer's


specification.

Unit, decimal places


The drive firmware automatically adjusts the unit and decimal places to the type
of construction of the motor (rotary or linear) entered in "P04014, Type of
construction of motor".
Unit fortype of constr. of motor (P04014) Decimal places fortype of constr. of motor
(P04014)
rotary

linear

rotary

linear

min-1

mm/min

Fig.3-36:
S-0-0113 - Attributes

Unit and decimal places of S-0-0113, depending on P-0-4014

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Data length:
Format:

4Byte
DEC_OV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

83/1033

Standard Parameters
Unit:

S-0-0044

Cycl. tra.: --

Extr. val. ch.:

Decim. pl.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.2.12

S-0-0045 /
S-0-0046
set switchable: +

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
3000,0000
3000,0000
3000,0000

S-0-0115, Position feedback 2 type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter defines the essential properties of the external (optional) en


coder.
See also Functional Description "Measuring Systems"

Structure

Bit

Designation/function

kind of encoder
0: rotary
1: linear

distance-coded measuring system


0: no distance-coded reference marks
1: distance-coded reference marks (S00165, S00166)

rotational direction
0: not inverted
1: inverted

design of distance-coded measuring system


0: positive direction of counting
1: negative direction of counting

7/6

possibility and deactivation of absolute evaluation


x0: absolute evaluation impossible (bit 7 irrelevant)
01: absolute evaluation possible and active (encoder is han
dled as absolute encoder)
11: absolute evaluation possible, but deactivated

Comment

84/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
8

absolute evaluation in case possibility of absolute evaluation as of


is missing
MPx04V26
0: bit 7 and bit 6 define the status of absolute evaluation

not defined in
1: absolute evaluation is activated, independent of bit 7 and SERCOS
bit 6
13

deactivation of encoder replacement monitoring

as of
0: encoder replacement monitoring has been activated, i.e. MPx04V26
encoder replacement is recognized (only for encoders with not defined in
data memory)
SERCOS
1: encoder replacement monitoring has been deactivated, i.e.
no error (F2176) is signaled when encoder is replaced and the
reference is possibly maintained; this does not affect position
initialization
ATTENTION: Only makes sense for mechanically adjusted
encoders!

Fig.3-37:
Use

S-0-0115 - Attributes

Position feedback 2 type

Observe the following aspects for usage:

In the case of measuring systems that can be evaluated in absolute form,


bit 6 is automatically set.

Only the bits mentioned above are supported by the software.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.13

PM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0x0
0x0
0x0

S-0-0116, Feedback 1 Resolution


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The resolution of the motor encoder is indicated in this parameter.


See also Functional Description "Measuring Systems"

Use

The value means:

In the case of rotary motors, the number of division periods or cycles per
motor revolution (DP/rev).

In the case of linear motors the resolution in mm (mm/line count).

In the case of motors with resolver feedback, the number of pole pairs of
the resolver is indicated.

The significance of the value of S00116 is determined by "P04014, Type of


construction of motor" (rotary or linear motor).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

85/1033

Standard Parameters
For most of the Rexroth housing motors, the value of S-0-0116 is
automatically loaded from the data memory of the motor encoder
to the controller! For housing motors 2AD(ADF)...-xxxC-..., as well
as ...-xxxD-... and MAD (MAF)...-C0-..., the value must be loaded
manually or by means of the commissioning software (e.g. Indra
Works)! For kit motors 1MS, MSS, MST, LSP and MLP (without
motor encoder!), the value must be entered manually!
Unit, decimal places
The drive firmware automatically adjusts the unit and decimal places to the type
of construction of the motor (rotary or linear) entered in "P04014, Type of
construction of motor".
Unit fortype of constr. of motor (P04014) Decimal places fortype of constr. of motor
(P04014)
rotary

linear

rotary

linear

DP/revolution

mm

Fig.3-38:
S-0-0116 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Unit and decimal places of S-0-0116, depending on P-0-4014


Par
PARAM_SP
P-0-4014
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.14

PM
PM->OM
---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
P-0-4014
set switchable: +

min./max.
--- / ----- / ----- / ---

Default value
256
256
256

S-0-0117, Feedback 2 Resolution


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The resolution of the external encoder is indicated in this parameter.


See also Functional Description "Measuring Systems"

Use

The value means:

In the case of rotary encoders, the number of division periods or cycles


per revolution of the encoder shaft (DP/rev).

In the case of linear motors the resolution in mm (mm/line count).

In the case of resolvers, the number of pole pairs.

The significance of the value of S00117 is determined by "S00115, Position


feedback 2 type" (rotary or linear encoder).
S-0-0117 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
DP/Rev
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0

86/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
MPD:
MPH:

3.2.15

--- / ----- / ---

0
0

S-0-0121, Input revolutions of load gear


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

If a mechanical gear has been built in between motor and load, the gear ratio
is input by means of S00121 and "S00122, Output revolutions of load gear".
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters"

Use

In this parameter the number (integral) of motor revolutions (gear input) is en


tered that cause an integral number of gear output revolutions ("S00122,
Output revolutions of load gear").
The gear ratio is:

Fig.3-39:

Calculating the gear ratio

Example:
5 motor revolutions result in 2 gear output revolutions.
S-0-0121: 5
S-0-0122: 2
S-0-0121 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Rev
--

Input
MPB:
MPD:
MPH:

3.2.16

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
Long_1 / MaxULong
Long_1 / MaxULong
Long_1 / MaxULong

Default value
1
1
1

S-0-0122, Output revolutions of load gear


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

If a mechanical gear has been built in between motor and load, the gear ratio
is input by means of "S00122" and "S00121, Input revolutions of load gear".
See also Functional Description "Scaling of Physical Data"

Use

In this parameter the number (integral) of gear output revolutions is entered that
are caused by an integral number of motor revolutions ("S00121, Input revo
lutions of load gear").

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

87/1033

Standard Parameters
The gear ratio is:

Fig.3-40:

Calculating the gear ratio

Example:
5 motor revolutions result in 2 gear output revolutions.
S-0-0121: 5
S-0-0122: 2
S-0-0122 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Rev
--

Input
MPB:
MPD:
MPH:

3.2.17

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
Long_1 / MaxULong
Long_1 / MaxULong
Long_1 / MaxULong

Default value
1
1
1

S-0-0123, Feed constant


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is only relevant for linear axes that are driven by a rotary motor.
The feed constant if the distance covered by the axis when the gear output shaft
or motor shaft moves by one revolution.
See also Functional Description "I/O Mode (Positioning and Preset Velocity)"

Use

Determining the feed constant with different mechanical transmission ele


ments:
Ballscrew

Toothed rack + gear pinion

feed constant = spindle lead(typical value


10.00 mm)

feed constant = effective diameter of the


gear pinion = effective circumference
of the gear pinion

Fig.3-41:

Determining the feed constant

The unit depends on bit 4 of S00076, Position data scaling type.


S-0-0123 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
10,0000

88/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
MPD:
MPH:

3.2.18

S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

10,0000
10,0000

S-0-0124, Standstill window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

To recognize the motor or axis standstill a threshold value for the velocity is
entered in this parameter. If the absolute value of the actual velocity value falls
below this threshold the controller recognizes a standstill. In the case of stand
still, bit 1 of "S00013, Class 3 diagnostics" is set and the "S00331, Status
'n_feedback = 0" message is output.
See also Functional Description "Drive Halt"

Use

Record of Modifications

S-0-0124 - Attributes

The standstill window also "acts":

when aborting or interrupting a drive control command. The abortion or


the interruption is acknowledged when the drive has stopped.

in the case of drive-controlled homing. The actual values and the com
mand values are only switched when the drive has stopped.

in the case of command value processing. The command value process


ing is initialized when switching the operating modes to the velocity = 0
when the drive has stopped.

in the case of "C1300 Positive stop drive procedure command", the value
of S00124 is a criterion for the acknowledgment of C1300

in the case of axis error correction. The values is used as a criterion for
detecting the positive or negative direction of motion of the axis.

Version

Attribute

GEN-02VRS

Extr. val. ch.: yes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.2.19

Description

Data length:
Format:

4Byte
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: +

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
20,0000
20,0000
20,0000

S-0-0125, Velocity threshold nx


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

If the absolute value of "S00040, Velocity feedback value" falls below the val
ue of "S00125, Velocity threshold nx", the drive

outputs the message "S-0-0332, Message 'nactual < nx'" and

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

89/1033

Standard Parameters

Record of Modifications

S-0-0125 - Attributes

sets a bit in "S00013, Class 3 diagnostics".

Version

Attribute

GEN-02VRS

Extr. val. ch.: yes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.2.20

Description

Data length:
Format:

4Byte
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: +

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
1000,0000
1000,0000
1000,0000

S-0-0126, Torque threshold Tx


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter the torque/force message threshold is entered. At a torque


work load above this threshold the controller generates the message T >= Tx
(S00333).
See also Parameter Description "S00013, Class 3 diagnostics"

S-0-0126 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0086

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.2.21

Extr. val. ch.:

Comb. check: -min./max.


S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: +
Default value
100,0
100,0
100,0

S-0-0127, C0100 Communication phase 3 transition check


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

When executing the S00127, C0100 Communication phase 3 transition check


command, all interface parameters are checked for validity.
See also Functional Description "Device Control (Status Machine)"

Use

If there are invalid interface parameters

the drive will terminate the command with an error message


and

90/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

the invalid parameters are entered in the S00021, IDN list of invalid op
erating data for communication phase 2 parameter.

In addition, the encoder data settings are checked and the scalings are calcu
lated (see C01xx error messages).
With the commands

S-0-0127, C0100 Communication phase 3 transition check and

S-0-0128, C0200 Communication phase 4 transition check

it is possible to switch from the parameterization mode to the operating mode.


Executing the command only causes the parameterization mode to
be switched to the operating mode if the master communication is
inactive (P04086 = xx1b)!
S-0-0127 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.2.22

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P23
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

S-0-0128, C5200 Communication phase 4 transition check


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

When executing the command "S00128, C0200 Communication phase 4


transition check" is executed, all parameters are checked for validity and pos
sible limit value violations.
See also Functional Description "Device Control (Status Machine)"

Use

If there are invalid parameters or limit value violations, the drive will terminate
the command with an error message and enter the invalid parameters in
"S00022, IDN list of invalid operating data for communication phase 3". In
addition, several drive functions are initialized.
With the commands

S-0-0127, C0100 Communication phase 3 transition check and

S-0-0128, C0200 Communication phase 4 transition check

it is possible to switch from the parameter mode to the operating mode.


Executing the command only causes the parameter mode to be
switched to the operating mode if the master communication is in
active (P04086 = xx1b)!
S-0-0128 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

91/1033

Standard Parameters
Input
MPB:
MPD:
MPH:

3.2.23

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0130, Probe value 1 positive edge


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

With a positive edge of the probe 1 input signal the drive stores the current value
of the selected parameter ("S00426, Signal select probe 1") in parameter
S00130.
See also Functional Description "Probe Function"

Use

Prerequisite for processing the content:

"S-0-0170, Probing cycle procedure command" must have been set and
be executed.

Probe 1 must have been enabled ("S00405, Probe 1 enable").


The switch status of the probe 1 input signal is displayed in
"S00401, Probe 1" as long as the probing cycle procedure com
mand is active!

S-0-0130 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.2.24

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0131, Probe value 1 negative edge


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

With a negative edge of the probe 1 input signal the drive stores the current
value of the selected parameter ("S00426, Signal select probe 1") in param
eter S00131.
See also Functional Description "Probe Function"

Use

Prerequisite for processing the content:

"S-0-0170, Probing cycle procedure command" must have been set and
be executed.

Probe 1 must have been enabled (S00405, Probe 1 enable).

92/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
The switch status of the probe 1 input signal is displayed in
"S00401, Probe 1" as long as the probing cycle procedure com
mand is active!
S-0-0131 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.2.25

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0132, Probe value 2 positive edge


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

With a positive edge of the probe 2 input signal the drive stores the current value
of the selected parameter (S00427, Signal select probe 2) in parameter
S00132.
See also Functional Description "Probe Function"

Use

Prerequisite:

"S-0-0170, Probing cycle procedure command" must have been set and
be executed.

Probe 2 must have been enabled (S00406, Probe 2 enable).


The switch status of the probe 2 input signal is displayed in
"S00402, Probe 2" as long as the probing cycle is active!

S-0-0132 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.2.26

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0133, Probe value 2 negative edge


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

With a negative edge of the probe 2 input signal the drive stores the current
value of the selected parameter (S00427, Signal select probe 2) in parameter
S00133.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

93/1033

Standard Parameters
See also Functional Description "Probe Function"
Use

Prerequisite:

"S-0-0170, Probing cycle procedure command" must have been set and
be executed.

Probe 2 must have been enabled (S00406, Probe 2 enable).


The switch status of the probe 2 input signal is displayed in
"S00402, Probe 2" as long as the probing cycle is active!

S-0-0133 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.27

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0134, Master control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For drives with SERCOS interface the master control word is cyclically trans
mitted from master to drive.
There is important control information defined in the master control word, like
for example:

drive enable

Drive Halt

selection of command operating mode

The exact structure of the control word is illustrated below.


See also Functional Description "Device Control (Status Machine)"
See also Functional Description "SERCOS interface"
See also Functional Description "Drive Halt"
Structure

Bit

Designation/function

5-0

control information for service channel

7/6

real-time control bits 1 and 2

11/9/8

command operating mode


0x00: primary mode of operation
0x01: secondary oper. mode 1, etc.
1x11: secondary oper. mode 7

10

IPOSYNC, interpolator clock, toggles when new com


mand values are to be transmitted

Comment

94/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Bit

Designation/function

13

Drive Halt

Comment

1-0 change: deceleration of drive while maintaining the


max. acceleration (S-0-0138) (only possible when bit 14
and 15 = 1)
14

drive enable
1-0 change: torque disable without delay (independent
of bit 15 or 13)

15

Drive ON
1-0 change: best possible deceleration (only possible if
bit 14 = 1)

Fig.3-42:
S-0-0134 - Attributes

Structure of the master control word (S-0-0134)

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.28

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0135, Drive status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For drives with SERCOS interface the master status word is cyclically trans
mitted from drive to master. There is important status information contained in
the master status word, like for example:

readiness for operation of control and power sections

drive error

change bits class 2 and 3 diagnostics

current operating mode

See also Functional Description "Device Control (Status Machine)"


See also Functional Description "SERCOS interface"
See also Functional Description "Drive Halt"
Structure

Bit

Designation/function

2-0

control information for service channel

status of cmd value processing

command change bit

7/6

real-time status bits 1 and 2

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

95/1033

Standard Parameters
Bit

Designation/function

10-8

actual operating mode

Comment

000: primary mode of oper. active


001: secondary oper. mode 1 active
010: secondary oper. mode 2, etc.
11

change bit class 3 diagnostics

12

change bit class 2 diagnostics

13

drive error, error in class 1 diagnostics

15/14

ready for operation


00: drive not ready for power on, because internal checks
not positively completed
01: ready for power on
10: control section and power section ready for operation,
torque-free
11: in operation, with torque

Fig.3-43:
S-0-0135 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Structure of the drive status word (S-0-0135)


Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.29

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0138, Bipolar acceleration limit value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter limits the command acceleration in all operating modes (not
torque control). The parameter has to be parameterized according to the ma
chine limits. It acts as the limit value in command value processing and in the
velocity control loop.
Command value limitation of the following parameters:

S-0-0260, Positioning acceleration

S-0-0359, Positioning deceleration

S-0-0372, Drive Halt acceleration bipolar

P-x-1201, Ramp 1 pitch

P-x-1211, Deceleration ramp 1

P-x-1203, Ramp 2 pitch

P-x-1213, Deceleration ramp 2

P-0-1461, PLC Ramp pitch

96/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

P-0-1463, PLC Deceleration ramp

Limitation of the current acceleration in the velocity control loop to the value of
S-0-0138.
The value selected for S-0-0138 always has to be a bit higher than
the acceleration command values which take effect in the corre
sponding operating mode, because otherwise the warning "E2070
Acceleration limit active" and possibly the lag error monitor (F2028)
will be falsely triggered due to control processes. When S-0-0138
equals zero, acceleration limitation does not take place.
See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "Drive-Internal Interpolation"
See also Functional Description "Position Control With Cyclic Command Value
Input"
Record of Modifications

S-0-0138 - Attributes

Version

Attribute

up to MPx04VRS

MPx Default Value: 10000000

up to MPx04VRS

Cycl. tra.: MDT

up to MPx04VRS

Editability: PM+OM

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0160

Cycl. tra.: --

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.2.30

Comment

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: +

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
0,000
0,000
0,000

S-0-0139, C1600 Parking axis command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

By starting this command, the drive is brought to the status "parking axis". The
active status "parking axis" is signaled by "PA" on the display.
See also Functional Description "Parking Axis"

Use

Starting the command


The command can only be activated in the parameter mode. As long as the
command is active, the following things happen when the parameterization
level is exited (cf. "S00422, C0200 Exit parameterization level procedure
command"):

No axis-specific calculations / checks / initializations take place.

Encoder monitoring functions of the axis-related encoders are not activa


ted.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

97/1033

Standard Parameters

Reference bits of the axis-related encoders remain at "0" in "position feed


back value status".

Motor temperature monitoring remains switched off.

It is impossible to set drive enable in the operating mode.

Only such commands which can be executed in the parameter mode can
be activated in the operating mode.

Clearing the command


While the axis is in parameter mode, the command can be set and cleared at
any time.
While the axis is in operating mode, the command cannot be cleared.
During the transition of the axis to parameter mode, the command is automat
ically cleared.
In order that the command change bit remains free for other com
mands, the command is not acknowledged as having been com
pleted.
S-0-0139 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.2.31

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0140, Controller type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The power section type is contained in the operating data of this parameter in
the form of a text (e.g. HCS02.1).
See also Functional Description "Controller Design"

S-0-0140 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
LT_SP
---

Input
MPB:
MPD:
MPH:

3.2.32

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0141, Motor type


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

98/1033

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

The type designation of the motor is entered in this parameter.


See also Functional Description "Motor, Mechanical Axis System, Measuring
Systems"

Use

When it is switched on, the controller can therefore recognize whether a differ
ent motor type has been connected in the meantime. To do this the contents of
this parameter and "P02141, Motor type, encoder memory" are compared.
If a different motor has been connected in the meantime, the controller gener
ates the message "F2008 RL The motor type has changed".
Writing the correct value to this parameter:

S-0-0141 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

In the case of MHD, MKD, MKE, automatically at initial com


missioning.

In the case of 2AD, ADF, linear and rotary kit motors, by load
ing the motor parameters with the commissioning software
(e.g. IndraWorks).

In the case of other motors, manual input according to manu


facturer's specification.

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.2.33

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: +

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0142, Application type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

A descriptive name (text) for the drive or the axis (e.g. swiveling axis) can be
stored in this parameter.
It does not have any influence on the function.

S-0-0142 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG


and Controls

99/1033

Standard Parameters

3.2.34

S-0-0143, Sercos interface version


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The operating data contains the version of the SERCOS interface specification.
At present, the following applies:
V01.03
SERCOS update German/English
release date

Fig.3-44:

S-0-0143, Sercos interface version

See also Functional Description "SERCOS interface"


S-0-0143 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.2.35

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0144, Signal status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of the signal status word it is possible to transmit signals in real time
from the drive to the control unit.
See also Functional Description "Configurable Signal Status Word"

Use

To do this the signal status word must be configured as a cyclic data to the
actual value telegram (AT; slave -> master).

S-0-0016, Configuration list of AT

S-0-1016, SERCOS-III: slave delay (SYNCCNT-P, SYNCCNT-S)

P-0-4081, Field bus: config. list of cyclic command value data ch.
When the parallel interface is used, parameter S00144 contains
the status bits.

The bits in the signal status word can be configured by means of the parameters

S-0-0144 - Attributes

"S-0-0026, Configuration list signal status word" and

"S-0-0328, Assign list signal status word"

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Data length:
Format:

2Byte
BIN

100/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Unit:
-Cycl. tra.: AT

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

3.2.36

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0145, Signal control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of the signal control word it is possible to transmit signals in real time
from the control unit to the drive.
See also Functional Description "Configurable Signal Control Word"

Use

To do this the signal control word must be configured as a cyclic data to the
command value telegram (MDT; master -> slave).

S-0-0024, Config. list of the master data telegram

S-0-1024, SERCOS-III: ring control

P-0-4080, Field bus: config. list of cyclic actual value data ch.
When the parallel interface is used, parameter S00145 contains
the status bits.

The bits in the signal control word can be configured by means of the param
eters

S-0-0145 - Attributes

"S-0-0027, Configuration list signal control word" and

"S-0-0329, Assign list signal control word"

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

3.2.37

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0146, C4300 NC-controlled homing procedure command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
MPD
MPD

The procedure for which the master, to establish the position data reference,
uses the travel motion for searching the dedicated point is called "NC-controlled
homing procedure".
See also Functional Description "NC-Controlled Homing"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 101/1033


and Controls

Standard Parameters
See also Functional Description "Establishing Position Data Reference for Rel
ative Measuring Systems"
Structure

Bit

Designation/function

1/0

00: clear

Comment

11: set
01: interrupt

Fig.3-45:
Use

S-0-0146, C4300 NC-controlled homing procedure command

On the drive side the entire procedure is supported via three commands:

NC-controlled homing procedure command ( S-0-0146)

Calculate displacement procedure command (S-0-0171)

Displacement to referenced system procedure command (S00172)

After the master has started "C4300", it has to input command values for the
search for the dedicated point. When the drive has identified the dedicated
point, this is signaled in S00408, Reference marker pulse registered and the
command execution is acknowledged. The master then shuts down the axis
and clears the command.
S-0-0146 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.2.38

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0147, Homing parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Based on the facility, NC and drive installation, there are settings made for the
following commands in this parameter:

S-0-0146, C4300 NC-controlled homing procedure command

S-0-0148, C0600 Drive-controlled homing procedure command

S-0-0171, C4400 Calculate displacement procedure command

S-0-0172, C4500 Displacement to referenced system procedure com


mand

See also Functional Description "Establishing Position Data Reference for Rel
ative Measuring Systems"
Structure

(*1 only drive-controlled homing(*2 only NC-controlled homing

102/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Bit

Designation/function

Comment

reference travel direction (*1

up to and including
MPx02

0: positive = clockwise rotation with view to the motor


shaft
1: negative = counter-clockwise rotation with view to the
motor shaft
reference travel direction (*1

as of MPx03

0: positive = motion in the direction of increasing actual


position values (to positive travel range limit)
1: negative = motion in the direction of decreasing actual
position values (to negative travel range limit)
1

home switch edge selection


0: positive edge ("activated" at high signal)
1: negative edge ("activated" at low signal)

home switch (*2

as of MPx03

0: connected to master (NC)


1: connected to drive
3

encoder selection
0: motor encoder
1: optional encoder (external encoder)

evaluation in the drive (*2


0: home switch and homing enable (only when bit 2 = "1")
1: only homing enable

evaluation of home switch (*1


0: yes
1: no

evaluation of reference mark (*1


0: yes
1: no

as of MPx03

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 103/1033


and Controls

Standard Parameters
Bit

Designation/function

Comment

8/7

stop/positioning/run path (only drive-controlled homing)


0 0: "Stop"After C0600 has been started, the drive stops,
with relative measuring systems, after the position data
reference was established;with absolute measuring sys
tems, when the position data reference has been estab
lished and C0300 has not been activated.
0 1: "Positioning" After C0600 has been started, the drive
positions, with relative measuring systems, at the home
point after the position data reference was established;
with absolute measuring systems, at the position of
S-0-0052/54, if C0300 has not been activated.
1 0: "Run path" (only for measuring systems with dis
tance-coded reference marks!)For drive-controlled es
tablishing of the position data reference, the drive always
moves over a distance that corresponds to the double
reference mark distance. This supports the commission
ing of Gantry axes!
1 1: Not allowed!

evaluation travel range limit switch as home switch (*1

as of MPx03

0: no
1: yes
10

evaluation axis blocking (positive stop) for homing (*1

as of MPx03

0: no
1: yes

Fig.3-46:

Relevant bits of S-0-0147, Homing parameter

It is only possible to evaluate a measuring system with distancecoded reference marks as a motor encoder or external encoder!
S-0-0147 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.2.39

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0x0024
0x0024
0x0024

S-0-0148, C0600 Drive-controlled homing procedure command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

When setting and enabling this command, drive enable has to be present. The
drive now goes to internal position control and accelerates with "S00042,
Homing acceleration" to "S00041, Homing velocity".

104/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
See also Functional Description "Establishing Position Data Reference for Rel
ative Measuring Systems"
Use

The following steps are processed:

In parameter "S00403, Position feedback value status" the bit of the re


spective encoder (motor or external encoder, depending on bit 3 of
"S00147, Homing parameter") is set to zero at first.

As long as the command is active, the cyclic command values of the con
trol unit are ignored.

After the correct execution of the command (drive has stopped and actual
position value is referred to the axis zero point) the drive sets the respec
tive bit in the "S00403, Position feedback value status" parameter to "1".
The sequence of the homing procedure is also determined via
S00147.
The bit, with regard to the respective encoder, corresponds to the
"In reference" signal.

S-0-0148 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.40

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0149, C1300 Positive stop drive procedure command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By setting and enabling this command all monitors are switched off which would
otherwise, when the drive is blocked by positive stop, cause a class 1 diag
nostics error message.
See also Functional Description "Positive Stop Drive Procedure"

Structure

Bit

Designation/function

1/0

00: clear

Comment

11: set
01: interrupt

Fig.3-47:
Use

S-0-0149, C1300 Positive stop drive procedure command

The following error messages are inactive when the command C1300 is active:

"F2028 Excessive deviation"

"F2037 Excessive position command difference"

"F2039 Maximum acceleration exceeded"

"F8078 Speed loop error"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 105/1033


and Controls

Standard Parameters
When the command is cleared again, the monitors are reset to their original
status.
S-0-0149 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.41

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0150, Reference offset 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The value of this parameter is the position difference between the dedicated
point (first reference mark of the motor encoder after activation of home switch)
and the home point determined on the axis-side.

xHomePoint:
xDedicatedPoint:
S-0-0150:
*):

Fig.3-48:

actual position value*) of the axis-side home point


actual position value*) of the dedicated point determined by a motor en
coder reference mark
Reference offset 1 (with sign!)
Both actual position values have to have the same position data refer
ence!

Operating principle of S-0-0150

See also Functional Description "Establishing Position Data Reference for Rel
ative Measuring Systems"
Use

This parameter allows compensating the position difference between the po


sition of the motor encoder reference mark (dedicated point) depending on the
motor arrangement and the position of the home point determined on the axisside.
If the sign of S00150 is positive (alternative: negative), the actual
position value of the home point is more positive (alternative: more
negative) than the one of the dedicated point. The homing direction
does not have any influence!

S-0-0150 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: +
Default value
0,0000
0,0000
0,0000

106/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.2.42

S-0-0151, Reference offset 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The value of this parameter is the position difference between the dedicated
point (first reference mark of the external encoder after activation of home
switch) and the home point determined on the axis-side.

xHomePoint
xDedicatedPoint
S-0-0151
*)

Fig.3-49:

actual position value*) of the axis-side home point


actual position value*) of the dedicated point determined by a reference
mark of the external encoder
Reference offset 2 (with sign!)
Both actual position values have to have the same position data refer
ence!

Operating principle of S-0-0151

See also Functional Description "Establishing Position Data Reference for Rel
ative Measuring Systems"
Use

This parameter allows compensating the position difference between the po


sition of the reference mark of the external encoder (dedicated point) depending
on the encoder arrangement and the position of the home point determined on
the axis-side.
If the sign of S00151 is positive (alternative: negative), the actual
position value of the home point is more positive (alternative: more
negative) than the one of the dedicated point. The homing direction
does not have any influence!

S-0-0151 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.2.43

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0152, C0900 Position spindle command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

MPH
MPH
MPH
MPH

-
-
MPD
MPD

When setting and enabling this command the "Position spindle" function is ac
tivated in the drive, if it is in drive enable.
See also Functional Description "Spindle Positioning"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 107/1033


and Controls

Standard Parameters
Use

We distinguish between:

Absolute positioning:This means that the drive moves to the target position
entered in "S00153, Spindle angle position".

Relative positioning:This means that the drive travels the travel distance
entered in "S00180, Spindle relative offset".

In both cases the cyclic command values are ignored and the drive positions
at the effective target position taking the parameters into account:

S-0-0372, Drive Halt acceleration bipolar

S-0-0154, Spindle position parameter

S-0-0222, Spindle positioning speed

S-0-0349, Jerk limit bipolar

After the spindle positioning process is over the "S00336, Message In posi
tion" message is set, the command, in the command acknowledgment, is not
acknowledged as being completed.

S-0-0152 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

If the drive is not in reference ("S00403, Position feedback


value status", bit 0 = 0), a homing procedure is automatically
started before positioning.

For homing and positioning the encoder selected in "S00147,


Homing parameter", bit 3 is used.

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.44

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0153, Spindle angle position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

MPH
MPH
MPH
MPH

-
-
MPD
MPD

This parameter contains the absolute target position (in the case of absolute
positioning) for the command "S00152, C0900 Position spindle command".
See also Functional Description "Spindle Positioning"
See also Parameter Description "S-0-0180, Spindle relative offset"

S-0-0153 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
0,0000

108/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
MPD:
MPH:

3.2.45

S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

0,0000
0,0000

S-0-0154, Spindle position parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

MPH
MPH
MPH
MPH

-
-
MPD
MPD

The options of the "position spindle" function are determined in this parameter.
The following options can be selected:

spindle clockwise

spindle counter-clockwise

shortest distance

absolute positioning

relative positioning

Prerequisite: The position data format must be "modulo" ("S00076, Position


data scaling type")!
See also Functional Description "Spindle Positioning"
Structure

Bit

Designation/function

1/0

spindle motion

Comment

0 0: positive direction
0 1: negative direction
1 0: shortest distance
2

positioning
0: absolute
1: relative

Fig.3-50:
Use

S-0-0154 - Attributes

Relevant bits of S-0-0154, Spindle position parameter

The selection whether to position with motor encoder or spindle encoder is


made in bit 3 of "S-0-0147, Homing parameter".

By means of "S00417, Velocity threshold for positioning in modulo for


mat" it is possible to define a threshold value for the actual velocity above
which the drive moves to a target position without reversing even if the
specification in S00154 should cause reversing! S00417 is deactivated
with the value "0", very small values can cause unpredictable drive be
havior!

By means of "S00418, Target position window in modulo format" it is


possible to determine a symmetrical position range relative to the current
position ("target position window"). Within this range the drive always
moves to a target position over the shortest distance even if only one di
rection of movement has been determined for positioning in S00154!
S00418 is deactivated with the value "0".

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 109/1033


and Controls

Standard Parameters
Input
MPB:
MPD:
MPH:

3.2.46

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

S-0-0155, Friction compensation


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The content of "S00155, Friction compensation" acts as an additive torque/


force command value and is used for compensating (lookahead) a possibly
existing static friction.
See also Functional Description "Friction Torque Compensation"

Use

The preceding sign of the compensation value is determined by the pre


ceding sign of the velocity command value.

A change of preceding signs only takes place if the absolute value of the
velocity command value is greater than the velocity set in "S00124,
Standstill window".
: By activating the friction compensation it is possible to compensate
the static friction when accelerating out of standstill and when in
verting the direction.

S-0-0155 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0086

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.2.47

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
0,0
0,0
0,0

S-0-0156, Velocity feedback value 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

The parameter "S00156, Velocity feedback value 2" contains the actual ve
locity of the optional encoder.
See also Parameter Description "S-0-0053, Position feedback 2 value"

S-0-0156 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

110/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Input
MPB:
MPD:
MPH:

3.2.48

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0157, Velocity window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The velocity window is related to the absolute value of the velocity command
(S00036).
See also Functional Description "Status Classes"

Use

If the actual velocity value is within the calculated velocity window, the drive
sets bit 0 of class 3 diagnostics (S00013) ("actual velocity = command veloc
ity" message). Parameter for inputting the tolerance window for the message
indicating whether the actual velocity value has reached the command value
("actual velocity = command velocity" message).
The "actual velocity = command velocity" message is set when the absolute
value of S00040, Velocity feedback value is within the range of values limited
by the resulting velocity command value (S00036 + S00037) +/- S-0-0157,
Velocity window. This message also appears in S00013, Class 3 diagnostics.

Record of Modifications

S-0-0157 - Attributes

Version

Attribute

GEN-02VRS

Extr. val. ch.: yes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.2.49

Comment

Data length:
Format:

4Byte
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: +

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
100,0000
100,0000
100,0000

S-0-0158, Power threshold Px


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The power message threshold is entered in this parameter. At a power work


load above this threshold the drive generates the message P >= Px (S00337).
See also Functional Description "Status Classes"

S-0-0158 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Watt
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 111/1033


and Controls

Standard Parameters
Input
MPB:
MPD:
MPH:

3.2.50

min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong

Default value
0
0
0

S-0-0159, Monitoring window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

If an operating mode with drive-internal position control has been activated in


the drive, the position control loop is monitored. To do this an "actual model
position value" is calculated and compared to the real actual position value.
The maximum occurring deviation is always stored in parameter
"P00098, Max. model deviation".
See also Troubleshooting Guide for "F2028 Excessive deviation"

Use

S-0-0159 - Attributes

By means of the parameter "S00159, Monitoring window" it is possible to set


the maximum tolerated deviation between measured and calculated "actual
model position value". If the position deviation exceeds the value set in
"S00159, Monitoring window", the drive evidently cannot follow the preset
command value and the error "F2028 Excessive deviation" is generated in
class 1 diagnostics.
Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.2.51

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
100,0000
100,0000
100,0000

S-0-0160, Acceleration data scaling type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

As described below, it is possible to set different scaling types for the acceler
ation data in the drive.
The scaling type of the acceleration data determines in which format and which
reference the acceleration data are exchanged between the drive and the con
trol unit or user interface. The values of the acceleration data parameters (e.g.
"S00138, Bipolar acceleration limit value") are displayed by the drive with the
scaling that has been set. The scaling setting is normally preset by the control
unit.

112/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Any change in the parameter setting has an effect on the scaling.
This means that changes in the parameter setting have effects on
the display and processing of velocity, position and acceleration
data in the drive!
See also Functional Description "Scaling of Physical Data"
Structure

Bit

Designation/function

2-0

scaling type

Comment

001: linear scaling


010: rotary scaling
011: ramp time
3

0: preferred scaling
1: parameter scaling

unit for linear scaling


0: meter [m]
1: inch [in]
unit for rotary scaling
0: radian [rad]
1: reserved

unit of time
0: second [s]
1: reserved

data reference
0: with respect to motor shaft
1: with respect to load

15-7

reserved

Fig.3-51:
Use

S-0-0160, Acceleration data scaling type

The following settings can be made:


In the case of preferred scaling (bit 3 = "0"), the following parameters are pre
defined and cannot be changed:

S-0-0161, Acceleration data scaling factor

S-0-0162, Acceleration data scaling exponent

In the case of parameter scaling, the scaling is realized by inputting the desired
parameter values.
S-0-0160 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
2
2
2

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 113/1033


and Controls

Standard Parameters

3.2.52

S-0-0161, Acceleration data scaling factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the case of parameter scaling (see S00160), the scaling factor and the
decimal format (the decimal place) of the acceleration data parameters are de
termined with this parameter and with "S00162, Acceleration data scaling
exponent".
Any change in the parameter setting has an effect on the scaling.
This means that changes in the parameter setting have effects on
the display and processing of velocity, position and acceleration
data in the drive!
See also Functional Description "Scaling of Physical Data"

Use
S-0-0161 - Attributes

If preferred scaling is selected in "S00160, Acceleration data scaling type",


the values in S00161 and S00162 are set automatically by the drive.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.2.53

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax

Default value
1
1
1

S-0-0162, Acceleration data scaling exponent


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the case of parameter scaling (see S00160) the scaling factor and the dec
imal format (the decimal place) of the acceleration data parameters are deter
mined with this parameter and with "S00161, Acceleration data scaling factor".
See also Functional Description "Scaling of Physical Data"

Use
S-0-0162 - Attributes

If preferred scaling is selected in "S00160, Acceleration data scaling type",


the values in S00161 and S00162 are set automatically by the drive.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
-15 / 0
-15 / 0
-15 / 0

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

114/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.2.54

S-0-0163, Weight counterbalance


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

-
-
MPH
MPH

-
-
MPD
MPD

Function

With vertical axes, parameter S00163 can be used to avoid momentary drop
ping of the axes when drive enable is set.

Use

In parameter S00163 enter the torque/the force (cf. S00084) which the axis
has to bring up to hold the load. To do this, read the content of S00084 in
controlled operation and transfer it to S00163.
In conjunction with the avoidance of dropping vertical axes the
brake delay time is relevant, too!

S-0-0163 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0086

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.2.55

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

Comb. check: -min./max.


S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
0,0
0,0
0,0

S-0-0164, Acceleration feedback value 1


Allocation

Function

S-0-0164 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The actual acceleration value of the motor encoder is displayed in parameter


S00164. The "S00164, Acceleration feedback value 1" is an actual velocity
value of the motor encoder that is differentiated and filtered during 4 ms.
Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0160

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

3.2.56

Extr. val. ch.:

Data length:
Format:

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

Comb. check: -min./max.


S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

S-0-0165, Distance-coded reference offset A


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 115/1033


and Controls

Standard Parameters
Hardware
Funct. package(s):
Function

-closed loop

When using a distance-coded incremental encoder the greater distance (divi


sion period) of the distance-coded reference marks is entered in this parameter.
See also Functional Description "Establishing the Position Data Reference"

S-0-0165 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
DP
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.57

PM
PM->OM
---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong

Default value
1001
1001
1001

S-0-0166, Distance-coded reference offset B


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

When using a distance-coded incremental encoder the smaller distance (divi


sion period) of the distance-coded reference marks is entered in this parameter.
See also Functional Description "Establishing the Position Data Reference"

S-0-0166 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
DP
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.58

PM
PM->OM
---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong

Default value
1000
1000
1000

S-0-0169, Probe control parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Via this parameter, you can configure the features of the probe function speci
fied in "SERCOS interface".
Extended probe functions can be configured via "P-0-0226, Probe,
extended control word"!
See also Functional Description "Probe Function"

116/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Structure

Bit

Designation/function

Comment

activation pos. edge probe 1


0: pos. edge is not evaluated
1: pos. edge is evaluated

activation neg. edge probe 1


0: neg. edge is not evaluated
1: neg. edge is evaluated

activation pos. edge probe 2


0: pos. edge is not evaluated
1: pos. edge is evaluated

activation neg. edge probe 2


0: neg. edge is not evaluated
1: neg. edge is evaluated

enable mode probe 1


0: single measurement, after every measurement a new
measurement has to be activated by a 0-1 change of the
enable signal
1: continuous measurement, the measurement is carried
out as long as the enable signal remains at "1"

enable mode probe 2


0: single measurement, after every measurement a new
measurement has to be activated by a 0-1 change of the
enable signal
1: continuous measurement, the measurement is carried
out as long as the enable signal remains at "1"

activation of probe function

as of MPx05VRS

0: auto-activation deactivated
1: auto-activation activated

Fig.3-52:
Use

Relevant bits of S-0-0169, Probe control parameter

Below you can find more detailed information on the individual bits for param
eterizing S-0-0169:
Bit 8: activation of probe function (as of MPx05VRS)
When this bit has been set to "1", the command "S-0-0170, Probing cycle pro
cedure command" is automatically activated when changing from the parame
ter mode (PM, P2) to the operating mode (OM, P4, bb, Ab). After the change
to the operating mode, this bit does not have any other significance, which
means that resetting and repeated setting of the bit won't have any effect.
However, the probe function can be deactivated and, if necessary, activated
again via S-0-0170.

S-0-0169 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
-+

min./max.
--- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 117/1033


and Controls

Standard Parameters
MPD:
MPH:

3.2.59

--- / ----- / ---

0
0

S-0-0170, Probing cycle procedure command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By setting and enabling the "probing cycle procedure" command the drive re
acts to

"S-0-0405, Probe 1 enable"/"S-0-0406, Probe 2 enable" and

"S-0-0401, Probe 1"/"S-0-0402 Probe 2"

as has been set in "S00169, Probe control parameter".


If bit 8 of parameter "S-0-0169, Probe control parameter" or bit 9 of
parameter "P-0-0226, Probe, extended control word" has been set,
the probing cycle procedure command is set during the transition
from parameter mode to operating mode. (as of MPx04V10)
See also Functional Description "Probe Function"
Structure

Bit

Designation/function

command in drive

Comment

0: clear
1: set
1

command execution
0: interrupt
1: execute

Fig.3-53:
Use

S-0-0170 - Attributes

S-0-0170, Probing cycle procedure command

While the command is active, the control unit can make various measurements.
If there are no more measurements required, the control unit clears the com
mand.
Function:
Memory:
Unit:
Cycl. tra.:

Cmd
--AT + MDT

Input
MPB:
MPD:
MPH:

3.2.60

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
-+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0/3
0/3
0/3

Default value
0
0
0

S-0-0171, C4400 Calculate displacement procedure command


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
MPD
MPD

118/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

The procedure for which the master, to establish the position data reference,
uses the travel motion for searching the dedicated point is called "NC-controlled
homing procedure". On the drive side the entire procedure is supported via
three commands:

NC-controlled homing procedure command (S-0-0146)

Calculate displacement procedure command (S-0-0171)

Displacement to referenced system procedure command (S00172)

See also Functional Description "Establishing Position Data Reference for Rel
ative Measuring Systems"
Structure

Bit

Designation/function

command in drive

Comment

0: clear
1: set
1

command execution
0: interrupt
1: execute

Fig.3-54:
Use

S-0-0171, C4400 Calculate displacement procedure command

The master can start the command "C4400 Calculate displacement procedure
command" after the drive has successfully completed the command "C4300
NC-controlled homing procedure command" for searching the reference point.
By means of command C4400 the drive calculates the required actual position
value displacement, in order to establish the axis zero point reference of the
actual position values.
The displacement value is displayed in

S-0-0175, Offset parameter 1 (motor encoder) or

S-0-0176, Offset parameter 2 (external encoder)

the drive then acknowledges the command execution. After that the master
clears the command.
S-0-0171 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.2.61

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0172, C4500 Displacement to referenced system procedure com


mand
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
MPD
MPD

When this command is started, the drive switches to the referenced actual value
system, enters the referenced actual position value 1 (S00051) or actual po

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 119/1033


and Controls

Standard Parameters
sition value 2 (S00053) and signals this in parameter "S00403, Position
feedback value status". In order to inform the master of this switching action in
real time, bit 0 from S00403 can be assigned to a real-time status bit.
See also Functional Description "Establishing the Position Data Reference"
Structure

Bit

Designation/function

command in drive

Comment

0: clear1: set
1

command execution
0: interrupt1: execute

Fig.3-55:
Use

S-0-0172 - Attributes

S-0-0172, C4500 Displacement to referenced system procedure com


mand

During the active command the master switches to the referenced position
command value system and signals this with "S00404, Position com
mand value status".

In order that the drive is informed of the switching process in a chrono


logically consistent way with the switching of the cyclic command values,
bit 0 from "S00404, Position command value status" must have been
assigned to a real-time control bit.

The drive completes the command correctly when the bits "S00403, Po
sition feedback value status" and "S00404, Position command value
status" have been set.

The bit "position command value status" must be set by the control unit
independent of the operating mode.

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.2.62

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0173, Marker position A


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the case of a drive with an incremental measuring system, the actual position
value of the reference mark (zero pulse) is stored in this parameter during the
drive-controlled homing procedure. This actual position value still refers to the
"old" coordinate system (before switching the coordinate system when execut
ing the homing procedure).
See also Functional Description "Detecting the Marker Position"

Use

In addition, it is possible to activate the reference mark detection by the


"P00014, C1400 Command Get marker position" command. In this case, the
respective actual position value is stored in this parameter at the next reference
mark pulse of the encoder and the command is positively acknowledged.

120/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
In case the drive, apart from the motor encoder, is equipped with an external
encoder, bit 3 of "S00147, Homing parameter" determines by which encoder
the position of the reference mark is stored!
In the case of incremental encoders with distance-coded reference
marks, the actual position value of the reference mark that has been
detected first is stored in this parameter! The actual position value
of the second reference mark is stored in "S00174, Marker posi
tion B"!
S-0-0173 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

3.2.63

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0174, Marker position B


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the case of a drive with an incremental measuring system with distancecoded reference marks, the actual position value of the second reference mark
that has been detected is stored in this parameter during the drive-controlled
homing procedure (C0600). This actual position value still refers to the "old"
coordinate system (before switching the coordinate system when executing the
homing procedure).
See also Functional Description "Detecting the Marker Position"

Use

In case the drive, apart from the motor encoder, is equipped with an optional
encoder, bit 3 of "S00147, Homing parameter" determines which encoder
stores the position of the reference mark!
In the case of incremental encoders with distance-coded reference
marks, the actual position value of the reference mark that has been
detected first is stored in parameter "S00173, Marker position A"
by "C1400 Command Get marker position"! Afterwards, the com
mand is reset; there aren't any data written to S-0-0174 when this
is done!

S-0-0174 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:

Comb. check: -min./max.


--- / ---

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 121/1033


and Controls

Standard Parameters
MPD:
MPH:

3.2.64

--- / ----- / ---

S-0-0175, Offset parameter 1


Allocation

Function

S-0-0175 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
PM->OM

Unit:

Extr. val. ch.:

S-0-0076

Input
MPB:
MPD:
MPH:

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0176, Offset parameter 2


Allocation

Function

S-0-0176 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Display parameter that displays the difference between the position reference
system after and before homing or setting absolute measuring of the external
encoder.
Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
PM->OM

Unit:

Extr. val. ch.:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.2.66

MPB
MPB
MPB
MPB
-closed loop

Display parameter that displays the difference between the position reference
system after and before homing or setting absolute measuring of the motor
encoder.

Cycl. tra.: --

3.2.65

-----

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0177, Absolute offset 1


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

122/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

This parameter is required for homing distance-coded motor encoders. It is the


offset between the zero point of the motor encoder (position of the 1st reference
mark of the motor encoder) and the machine zero point.
See also Functional Description "Establishing the Position Data Reference"

Use

The correct value for this parameter is determined in two steps:

First the value "0" is entered in S00177 and the command "S00148,
C0600 Drive-controlled homing procedure command" is carried out. The
actual position value 1 in S00051 then displays the current position with
regard to the zero point of the motor encoder.

If the axis is then moved to he machine zero point by means of jogging,


the value displayed in S00051 at the zero point has to be read and en
tered in S00177 with inverted sign.

After carrying out the homing command again the value in S00051 then dis
plays the position with regard to the machine zero point.
In case the drive, apart from the motor encoder, is equipped with
an external encoder, bit 3 of "S00147, Homing parameter" deter
mines which encoder is homed!
S-0-0177 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.2.67

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0178, Absolute offset 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter is required for homing distance-coded external encoders. It is


the offset between the zero point of the encoder (position of the 1st reference
mark of the external encoder) and the machine zero point.
See also Functional Description "Establishing the Position Data Reference"

Use

The correct value for this parameter is determined in two steps:

First the value "0" is entered in S00178 and the command "S00148,
C0600 Drive-controlled homing procedure command" is carried out. The
actual position value 2 in S00052 then displays the current position with
regard to the zero point of the external encoder.

If the axis is then moved to he machine zero point by means of jogging,


the value displayed in S00052 at the zero point has to be read and en
tered in S00178 with inverted sign.

After carrying out the homing command again the value in S00052 then dis
plays the position with regard to the machine zero point.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 123/1033


and Controls

Standard Parameters
In case the drive, apart from the motor encoder, is equipped with
an external encoder, bit 3 of "S00147, Homing parameter" deter
mines which encoder is homed!
S-0-0178 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Extr. val. ch.:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.2.68

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0179, Probe status


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

When the drive stores one or several probe values, it simultaneously sets the
corresponding bit in the probe status.
The probe evaluation must have been activated!
See also Functional Description "Probe Function"

Structure

Bit

Designation/function

probe value 1 positive


0: not latched
1: latched

probe value 1 negative


0: not latched
1: latched

probe value 2 positive


0: not latched
1: latched

probe value 2 negative


0: not latched
1: latched

probe 1, marker failure status(cf. P-0-0224 and P-0-0206)


0: failures < max. value
1: failures >= max. value

Comment

124/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Bit

Designation/function

Comment

probe 2, marker failure status(cf. P-0-0225 and P-0-0207)


0: failures < max. value
1: failures >= max. value

15-6

reserved

Fig.3-56:
Use

S-0-0179 - Attributes

Probe status

Clearing the measured value status bits:

If the enable of probe 1 (S00405) is cleared by the control unit, the drive
clears bit 0, bit 1 and bit 4 in the probe status.

If the enable of probe 2 (S00406) is cleared by the control unit, the drive
clears bit 2, bit 3 and bit 5 in the probe status.

The drive clears all bits when the probing cycle procedure command
(S00170) is cleared by the control unit or when the bit for activation of
probe evaluation is reset in "P00226, Probe, extended control word".

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.69

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0180, Spindle relative offset


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

MPH
MPH
MPH
MPH

-
-
MPD
MPD

This parameter contains the travel distance (in the case of relative positioning)
for the command S00152, C0900 Position spindle command.
In "S00430, Effective target position" the effective absolute target
position with the active command "S00152, C0900 Position spin
dle command" is displayed!
See also Functional Description "Spindle Positioning"
See also Parameter Description "S-0-0153, Spindle angle position"

Record of Modifications

S-0-0180 - Attributes

Version

Attribute

GEN-02VRS

Cycl. tra.: MDT

Comment

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 125/1033


and Controls

Standard Parameters
Input
MPB:
MPD:
MPH:

3.2.70

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0183, Velocity synchronization window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

If during the operating mode "speed synchronization" the absolute value of the
difference between velocity command value and actual value becomes smaller
than the synchronization window, bit 8 is set in parameter "P00089, Status
word for synchronous operating modes".
See also Functional Description "Velocity Synchronization with Real/Virtual
Master Axis"

Use

The following applies:


Bit 8 = 1, if | dX synch + dX additive dX act | < S-0-0183
with dX act: velocity feedback value (S-0-0040)
dX synch: synchronous velocity command value, generated from current master
axis speed
dX additive: additive velocity command value (S-0-0037)

S-0-0183 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.2.71

Extr. val. ch.:

Comb. check: -min./max.


S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: -Default value
20,0000
20,0000
20,0000

S-0-0185, Length of the configurable data record in the AT


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

In the operating data of this parameter the SERCOS-drive indicates the maxi
mum length in byte that it can process in the configurable data record of the
drive data telegram.
The maximum length depends on the relation of position cycle time and SER
COS cycle time:

SERCOS cycle time = position cycle time: max. length 16 byte

SERCOS cycle time = position cycle time: max. length 32 byte

See also Functional Description "Basic Functions of Master Communication"

126/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
S-0-0185 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Byte
--

Input
MPB:
MPD:
MPH:

3.2.72

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0186, Length of the configurable data record in the MDT


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

In the operating data of this parameter the SERCOS drive indicates the maxi
mum length in byte that it can process in the configurable data record of the
master data telegram.
The maximum length depends on the relation of position cycle time and SER
COS cycle time:

SERCOS cycle time = position clock: max. length 16 bytes

SERCOS cycle time > position clock: max. length 32 bytes

See also Functional Description "Basic Functions of Master Communication"


See also Functional Description "Performance Data"
S-0-0186 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Byte
--

Input
MPB:
MPD:
MPH:

3.2.73

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0187, List of configurable data in the AT


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This list contains the IDNs of the parameters or operating data which can be
configured in the actual value telegram.
See also Functional Description "Basic Functions of Master Communication"
See also Functional Description "Master Communication"
See also Parameter Description "S-0-0016, Configuration list of AT"
See also Parameter Description "P-0-4081, Field bus: config. list of cyclic com
mand value data ch."

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 127/1033


and Controls

Standard Parameters
S-0-0187 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.2.74

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0188, List of configurable data in the MDT


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This list contains the IDNs of the parameters or operating data which can be
configured in the command value telegram.
See also Functional Description "Basic Functions of Master Communication"
See also Functional Description "Master Communication"
See also Parameter Description "S-0-0024, Config. list of the master data tele
gram"
See also Parameter Description "P-0-4080, Field bus: config. list of cyclic actual
value data ch."

S-0-0188 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.2.75

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0189, Following distance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

If an operating mode with internal position control is activated in the drive, the
current difference between position command value (cf. P00434) and actual
position value (cf. "S-0-0051 Position feedback 1" value or "S-0-0053 Position
feedback 2" value) is displayed in "S00189, Following error".
See also Functional Description "Position Controller"

128/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

Fig.3-57:
Use

S-0-0189 - Attributes

S-0-0189, Control deviation in position control loop (following error)

The content of "S00189 Following error" corresponds to the control deviation


of the position controller; the content of S00189 is used for many status mes
sages. If position control has not been activated, the value of the parameter is
set to "0".
Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

3.2.76

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0190, C4200 Drive-controlled oscillation command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

-
MPH
MPH
MPH

-
-
-
-

This parameter starts the function "drive-controlled oscillation". The command


is processed via the drive-internal speed control loop. The drive automatically
generates the speed command value characteristic for the oscillation motion.
See also Functional Description "Drive-Controlled Oscillation"
See also Functional Description "Command Processing"

S-0-0190 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.2.77

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0191, C1500 Cancel reference point procedure command


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

-
MPH
MPH
MPH

-
-
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 129/1033


and Controls

Standard Parameters
Hardware
Funct. package(s):
Function

-closed loop

Setting and enabling the command "cancel reference point procedure" clears
the reference of the encoder defined via "S00147, Homing parameter". The
actual position value status (bit 0 in S-0-0403) is cleared, too.
See also Functional Description "Establishing Position Data Reference for Rel
ative Measuring Systems"
See also Functional Description "Command Processing"

Structure

Bit

Designation/function

command in drive

Comment

0: clear
1: set
1

command execution
0: interrupt
1: execute

Fig.3-58:
Use

S-0-0191 - Attributes

S-0-0191, C1500 Cancel reference point procedure command

The drive completes the command correctly when the actual position value
status bit is set to "0" and the actual position value of the active measuring
system no longer refers to the machine zero point (= is no longer referenced).
Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.2.78

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0192, IDN-list of backup operation data


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this list the IDNs of those parameters are stored the values of which are axisspecific and for regular operation have to be loaded to the drive of the respective
axis.
See also Functional Description "Parameters, Basics"

Use

Depending on the setting in S-0-0269, Storage mode, these parameters are


also stored, continuously or in a command-controlled way, in the internal, nonvolatile memory ("flash") or on the MultiMediaCard (MMC).
The control unit should use this parameter in order to make a back
up copy of the drive parameters and the axis-specific values.

S-0-0192 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Data length:
Format:

2Byte var.
IDN

130/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

3.2.79

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0193, Positioning Jerk


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The positioning jerk limits the change in acceleration per unit of time in the
following operating modes

drive-internal interpolation and

drive-controlled positioning
The value "0" switches the jerk filter off!

See also Functional Description "Drive-Internal Interpolation"


See also Functional Description "Drive-Controlled Positioning"
S-0-0193 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

3.2.80

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: +

Comb. check: -min./max.


S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
0,000
0,000
0,000

S-0-0195, Acceleration feedback value 2


Allocation

Function
S-0-0195 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The "S00195, Acceleration feedback value 2" is an actual velocity value of the
optional encoder that is differentiated and filtered during 4ms.
Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0160

Cycl. tra.: AT
Input
MPB:

Comb. check: -min./max.


S-0-0160 / S-0-0160

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 131/1033


and Controls

Standard Parameters
MPD:
MPH:

3.2.81

S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

-----

S-0-0197, C3300 Set coordinate system procedure command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)

MPD
MPD
MPD
MPD

With "S00197, C3300 Set coordinate system procedure command" the drive
disconnects from the control unit and goes to standstill in a drive-controlled way.
As in the case of "Drive Halt", this takes place independent of the active oper
ating mode with a position ramp or a speed ramp. In standstill the "S00198,
Initial coordinate value" is now entered in the position system display.
See also Functional Description "Command Processing"

S-0-0197 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.2.82

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0198, Initial coordinate value


Allocation

Function
S-0-0198 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)

MPD
MPD
MPD
MPD

In standstill, the initial coordinate value is entered in the position system display.
Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.2.83

OM
----

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0199, C3400 Shift coordinate system procedure command


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)

MPD
MPD
MPD
MPD

132/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

With this command the master can set the actual value system of a moving axis
to a different display reference. The position data reference of the axis is not
influenced!
See also Functional Description "Command Processing"

Use

The drive in this case becomes independent of the command values preset by
the control unit, but maintains the active motion. The display of the actual po
sition value changes abruptly by adding "S00275, Coordinate offset value".
With the command still active, the control unit accepts the current actual posi
tion value. After the command was cleared, the control unit presets the com
mand values again.
The offset of the position display is displayed in "S00283, Current coordinate
offset".

S-0-0199 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

3.3

S-0-0201 - S-0-0400 Standard Parameters

3.3.1

S-0-0201, Motor warning temperature


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

If the motor temperature exceeds the motor warning temperature, the drive sets
bit 2 (motor overtemperature warning) in "S00012, Class 2 diagnostics" and
the warning "E2051 Motor overtemp. prewarning" is output. In the case of MHD
and MKD motors, the drive sets this parameter to 145 C, in the case of MKE
motors to 125 C.
See also Functional Description "Motor Temperature Monitoring"

S-0-0201 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
S-0-0208
--

Input
MPB:
MPD:
MPH:

3.3.2

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: +

min./max.
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208

Default value
145,0
145,0
145,0

S-0-0204, Motor shutdown temperature


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 133/1033


and Controls

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

If the motor temperature exceeds the motor shutdown temperature, the drive
sets bit 2 (motor overtemperature shutdown) in "S00011, Class 1 diagnostics"
and the error "F2019 Motor overtemperature shutdown" is generated.
In the case of MHD and MKD motors, the drive sets this parameter to 155 C,
in the case of MKE motors to 135 C.
See also Functional Description "Motor Temperature Monitoring"

S-0-0204 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
S-0-0208
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.3

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: +

min./max.
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208

Default value
155,0
155,0
155,0

S-0-0206, Drive on delay time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used for delaying the status message "drive follows command
values" (cf. "S00135, Drive status word", bit 3 = "1") in a defined way, as some
time passes between control and actual release of the holding brake (inductive
and mechanical behavior).
See also Functional Description "Motor Holding Brake"

Use

The following has to be observed for usage:

The content of S00206 should as a maximum be as high a value as the


release delay of the holding brake to make sure that a vertical axis does
not drop when the holding brake is released.

To avoid movement against the applied brake when drive enable is switch
ed on, take the release delay of the holding brake into account for com
mand value input, too.
For Rexroth motors with feedback data memory, the content of
S-0-0206 is set automatically.

S-0-0206 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +
Default value
100
100
100

134/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.3.4

S-0-0207, Drive off delay time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The value of this parameter is the time distance between the control for applying
the holding brake and the torque/force disable of the motor (drive-internal
switching off of drive enable).
See also Functional Description "Motor Holding Brake"

Use

The value should be at least as high as the clamping delay of the holding brake
in order to make sure that vertical axes which are not equilibrated do not move
down when the drive enable is switched off!
Is set automatically for Rexroth motors.

S-0-0207 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.5

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T

Default value
100
100
100

S-0-0208, Temperature data scaling type


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter the unit of the temperature data of the drive is
determined. The values are displayed with the first decimal place.
Bit

Designation/function

temperature data in

Comment

0: degrees Celsius (C)


1: Fahrenheit (F)
151

Fig.3-59:
Record of Modifications

S-0-0208 - Attributes

reserved

Determining the temperature data

Version

Attribute

GEN-02VRS

validity ch.: P2-3

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

Description

PM
PM->OM

Data length:
Format:

2Byte
BIN

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 135/1033


and Controls

Standard Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: +

Input
MPB:
MPD:
MPH:

3.3.6

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

S-0-0213, Oscillation speed


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

-
MPH
MPH
MPH

-
-
-
-

The oscillation speed is the amplitude of the speed oscillation around the
"S00214, Oscillation offset speed".
See also Functional Description "Drive-Controlled Oscillation"

S-0-0213 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Rpm
AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.7

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong

Default value
8,0000
8,0000
8,0000

S-0-0214, Oscillation offset speed


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

-
MPH
MPH
MPH

-
-
-
-

The oscillation offset speed is the average value of speed oscillation.


See also Functional Description "Drive-Controlled Oscillation"

S-0-0214 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Rpm
AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.8

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong

Default value
1,0000
1,0000
1,0000

S-0-0215, Oscillation cycle time


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

-
MPH
MPH
MPH

-
-
-
-

136/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-main spindle

The oscillation cycle time is the periodic time of speed oscillation.


See also Functional Description "Drive-Controlled Oscillation"

S-0-0215 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
AT + MDT

Input
MPB:
MPD:
MPH:

3.3.9

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax

Default value
400,0
400,0
400,0

S-0-0216, C4100 Switch parameter set command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

-
MPH
MPH
MPH

-
-
-
-

At the execution of this command parameter set switching is carried out.


If required, the drive automatically switches to the parameter mode
(PM).
See also Functional Description "Parameter Set Switching"

Use

S-0-0216 - Attributes

As a prerequisite the settings according to the application have to be made


in "P02216, Parameter set switching, group selection" and "P02217,
Parameter set switching, preselection range".

After the switching the parameter set with that number is active which had
been entered in "S-0-0217, Preselect parameter set command" at the time
of switching.

The parameter set active after switching is displayed in "S00254, Current


parameter set".

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.3.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0217, Preselect parameter set command


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

-
MPH
MPH
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 137/1033


and Controls

Standard Parameters
Function

The value of this parameter determines the number of the parameter set which
is activated by executing "S00216, C4100 Switch parameter set command".
See also Functional Description "Command Processing"
See also Functional Description "Parameter Set Switching"

Use

S-0-0217 - Attributes

As a prerequisite the settings according to the application have to be made in


"P02216, Parameter set switching, group selection" and "P02217, Param
eter set switching, preselection range".
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / ausPARU_Vorwahl
bereich[]
0 / ausPARU_Vorwahl
bereich[]
0 / ausPARU_Vorwahl
bereich[]

MPB:
MPD:
MPH:

3.3.11

PM+OM
-+
--

Default value
-------

S-0-0219, IDN-list of parameter set


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

-
MPH
MPH
MPH

-
-
-
-

All IDNs concerned by "S00216, C4100 Switch parameter set command" are
listed in this parameter.
The number of parameters listed in S00219 is determined by the
setting in "P02216, Parameter set switching, configuration" and
"P02217, Parameter set switching, preselection range".
See also Functional Description "Parameter Set Switching"

S-0-0219 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.12

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: +

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0222, Spindle positioning speed


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

MPH
MPH
MPH
MPH

-
-
MPD
MPD

138/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

The maximum speed with which the spindle turns at the command S00152,
C0900 Position spindle command is entered in this parameter.
See also Functional Description "Command Processing"
See also Functional Description "Spindle Positioning"

Use

Record of Modifications

S-0-0222 - Attributes

The motor accelerates with "S00372, Drive Halt acceleration bipolar" to this
speed, in order that

the drive moves to the target position entered in "S00153, Spindle angle
position"

or that the drive travels the travel distance entered in "S00180, Spindle
relative offset".

Version

Attribute

GEN-02VRS

Cycl. tra.: no

GEN-02VRS

Extr. val. ch.: yes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: AT + MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.3.13

Comment

Data length:
Format:

4Byte
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: +

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
0,0000
0,0000
0,0000

S-0-0228, Position synchronization window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

If with parameterized synchronization mode with outer position control loop the
absolute value of the difference between velocity command value and actual
value becomes smaller than the synchronization window, bit 8 is set in param
eter "P00089, Status word for synchronous operating modes".
The following applies:
Bit 8 = 1, if | X synch + X additive X act | < S-0-0228
with X act: actual position value S-0-0051 or S-0-0053
X synch: synchronous position command value, generated from current master
axis position
X additive: additive position command value, S-0-0048
See also Functional Description "Synchronization Modes"

S-0-0228 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 139/1033


and Controls

Standard Parameters
Input
MPB:
MPD:
MPH:

3.3.14

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
10,0000
10,0000
10,0000

S-0-0254, Current parameter set


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

-
MPH
MPH
MPH

-
-
-
-

This parameter displays the number of the currently active parameter set.
See also Functional Description "Parameter Set Switching"

S-0-0254 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.15

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0256, Multiplication 1 (motor encoder)


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Function

The "S00256 Multiplication 1" parameter indicates with which factor the sig
nals of the motor encoder are multiplied in the drive.

Use

The multiplication 1 results subject to the "S00278 Maximum travel range"


and "S00116 Feedback 1 Resolution" parameters.
The internal encoder resolution for the motor encoder is calculated from:

Fig.3-60:
S-0-0256 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Internal resolution for the motor encoder


Par
----

Input
MPB:
MPD:
MPH:

3.3.16

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
1
1
1

S-0-0257, Multiplication 2 (optional encoder)


Allocation

Contained in 02VRS:
Contained in 03VRS:

MPB
MPB

MPH
MPH

MPD
MPD

140/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPB
-closed loop

MPH
MPH

MPD
MPD

The "S00257 Multiplication 2" parameter indicates with which factor the sig
nals of the optional encoder are multiplied in the drive.
See also Functional Description "Basics on Measuring Systems, Resolution"

Use

The multiplication 2 results subject to the "S00278 Maximum travel range"


and "S00117 Feedback 2 Resolution" parameters.
The internal resolution for the optional encoder is calculated as follows:

Fig.3-61:
S-0-0257 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Internal resolution for the optional encoder


Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.17

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0258, Target position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By this parameter the control unit presets the target position for the drive in the
"Drive-internal interpolation" mode.
See also Functional Description "Drive-Internal Interpolation"

Use

S-0-0258 - Attributes

With the internally generated position command value sequence, the drive
moves to the target position (S00258) and, apart from the positioning velocity
(S00259), takes the maximum positioning acceleration (S00260) or decel
eration (S00359), the maximum positioning jerk (S00193) and the feedrate
override (S00108) into consideration.
Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

S-0-0076

Cycl. tra.: MDT

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.3.18

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0259, Positioning velocity


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 141/1033


and Controls

Standard Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
-closed loop

MPH

MPD

By this parameter the maximum velocity at which to move to the target position
("S00258, Target position" or "S-0-0282, Positioning command value") is pre
set for the drive in the "Drive-internal interpolation" and "Drive-controlled posi
tioning" modes.
See also Functional Description "Drive-Internal Interpolation"
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "Positioning Block Mode"

Use

Record of Modifications

S-0-0259 - Attributes

The internally generated position command value sequence, apart from the
positioning velocity (S00259), takes the maximum positioning acceleration
(S00260) or deceleration (S00359), the maximum positioning jerk
(S00193) and the feedrate override (S00108) into consideration.
Version

Attribute

GEN-02VRS

Extr. val. ch.: yes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: AT + MDT

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.3.19

Comment

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
10,0000
10,0000
10,0000

S-0-0260, Positioning acceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By this parameter the maximum acceleration at which to move to the target


position ("S00258, Target position" or "S-0-0282, Positioning command val
ue") is preset for the drive in the "drive-internal interpolation" and "drivecontrolled positioning" modes.
See also Functional Description "Drive-Internal Interpolation"
See also Functional Description "Drive-Controlled Positioning"

Use

The internally generated position command value sequence, apart from the
positioning acceleration (S00260) or deceleration (S00359), takes the max
imum positioning velocity (S00259), the maximum positioning jerk (S00193)
and the feedrate override (S00108) into consideration.

142/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
The acceleration is limited to the value of "S-0-0138, Bipolar accel
eration limit value". With the value "0", the parameter S00138 will
take effect. The value of parameter "S-0-0260, Positioning accel
eration" should always be smaller than the value of parameter
"S-0-0138, Bipolar acceleration limit value", because otherwise a
lag error will build up due to internal control processes. When the
value "0" is input for the parameter, the parameter "S-0-0138" will
take effect.
S-0-0260 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: AT + MDT

Extr. val. ch.:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.3.20

Data length:
Format:

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
1000,000
1000,000
1000,000

S-0-0261, Coarse position window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The "S-0-0261, Positioning window coarse" parameter is used for the status
message "In Position coarse" ("S-0-0013, Class 3 diagnostics", bit 11 = 1) |
following error (S-0-0189)| < positioning window (S-0-0261).
See also Parameter Description "Status Classes, Status Displays, Control Pa
rameters"

Record of Modifications

S-0-0261 - Attributes

Version

Attribute

GEN-02VRS

MPB Default value: 500MPH


Default value: 500

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.3.21

Comment

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: +

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,5000
0,5000
0,5000

S-0-0262, C07_x Load defaults procedure command


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 143/1033


and Controls

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

With "C07_x Load defaults procedure command" different default parameter


values can be loaded depending on "P04090, Configuration for loading default
values".
See also Functional Description "Loading, Storing and Saving Parameters"
See also Parameter Description "P-0-4090, Configuration for loading default
values"

Use

The following parameter values can be loaded:

Load controller parameters: The motor-specific control loop parameter


values (adjustment of controller to motor, default setting of P04090!)
stored in the motor encoder are loaded. Only possible in phase 4 ("oper
ating mode").

Load basic parameters: Basic parameter values stored in the firmware are
loaded (firmware-specific default values for all parameters, can be con
figured via P-0-4090). Only possible in phase 2 ("parameter mode").

Load defaults procedure for safety technology: The set of default values
for safety technology parameters stored in the firmware is loaded (can be
selected via P-0-4090). Only possible in phase 2 ("parameter mode").

Damage to the internal memory (flash) caused by too many write ac


cesses!
During the execution of this parameter command, data are written to the
internal memory (flash). As each flash only allows a limited number of write
accesses before its memory locations are destroyed, you should make sure
that such write accesses won't be carried out too often

CAUTION

By executing this command axis-specific or safety-technology-specific


parameter values that have already been optimized are possibly over
written!
CAUTION

Only execute command during initial commissioning!

S-0-0262 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.3.22

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0263, C2300 Load working memory procedure command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This command copies the parameter set from the active non-volatile memory
to the volatile memory of the drive controller (RAM).
The active non-volatile memory can be the internal flash memory or the Multi
MediaCard (MMC) if it has been plugged.

144/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

Damage to the internal memory (flash) caused by too many write ac


cesses!
During the execution of this parameter command, data are written to the
internal memory (flash). As each flash only allows a limited number of write
accesses before its memory locations are destroyed, you should make sure
that such write accesses won't be carried out too often.

CAUTION
S-0-0263 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.23

PM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0264, C2200 Backup working memory procedure command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This command copies the parameter set from the volatile memory of the drive
controller (RAM) and saves it in the active non-volatile memory.
The active non-volatile memory can be the internal flash memory or the Multi
MediaCard (MMC) if it has been plugged.

Damage to the internal memory (flash) caused by too many write ac


cesses!
During the execution of this parameter command, data are written to the
internal memory (flash). As each flash only allows a limited number of write
accesses before its memory locations are destroyed, you should make sure
that such write accesses won't be carried out too often.

CAUTION
S-0-0264 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.24

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0265, Language selection


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 145/1033


and Controls

Standard Parameters
Function

All parameter names, units and diagnostic/error messages are stored in the
drive controller in several languages. This parameter determines the language
of the texts to be output.

0: German

1: English

2: French

3: Italian

4: Spanish

See also Functional Description "Coded Diagnostic Drive Messages"


S-0-0265 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdNul /
MaxWert_S_0_0265
StdNul /
MaxWert_S_0_0265
StdNul /
MaxWert_S_0_0265

MPB:
MPD:
MPH:

3.3.25

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Default value
0
0
0

S-0-0267, Password
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

A customer password can be activated by means of this parameter.


See also Functional Description "Password"

Use

This password allows protecting the values of the parameters contained in


"S00279, IDN list of password-protected operation data" against inadvertent
or unauthorized changes. The password entered in the default status is "007".
This allows writing data to the parameters (original status).
BRC reserves the right to use a master password function. In this
context the parameter is also used to unlock customer service func
tions (see also P04064, Password level).

S-0-0267 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
-------

146/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.3.26

S-0-0269, Storage mode


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Bit 0 of this parameter determines the mode in which the parameter values from
"S00192, IDN list of backup operation data" are stored in the internal nonvolatile memory ("flash") or on the MultiMediaCard (MMC).
See also Functional Description "Loading, Storing and Saving Parameters"

Use

Depending on the setting, there is the following behavior:

0: changes in the parameter are maintained, even if 24V voltage fails (nonvolatile behavior)

1: changes in the parameter get lost after 24V have been switched off
(volatile behavior)
The number of writing cycles for the device memory is limited;
therefore, set the storage mode to "1" for cyclic write accesses in
order to avoid damage to the active memory (flash or MMC)!

Observe the following aspects for usage:

S-0-0269 - Attributes

With permanent control of MLD (e.g. in MLD-M system mode), it is rec


ommended that you set the storage mode in the program to
"volatile" (S-0-0269=1) when cyclic parameter access (writing) takes place
from the program. Otherwise, leave the setting at "nonvolatile" (S-0-0269=0)!

To maintain the parameter settings in case voltage fails with the storage
mode "1", previously execute the command "S-0-0264, C2200 Backup
working memory procedure command".

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.3.27

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0/1
0/1
0/1

Default value
0
0
0

S-0-0270, Selected IDN list of operation data to backup


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The contents of all parameters the IDNs of which are listed in this parameter
are saved from the working memory (volatile memory) to the active non-volatile
memory by activating the "S00293, C2400 Selectively backup working mem
ory procedure command" parameter.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 147/1033


and Controls

Standard Parameters
The active non-volatile memory can be the internal flash memory or the Multi
MediaCard (MMC) if it has been plugged.
See also Functional Description "Parameters, Basics"
S-0-0270 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.28

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0273, Maximum drive off delay time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter the determined time is entered that the drive needs in order
to stop the axis out of maximum velocity at maximum inertia or mass with max
imum allowed brake torque or brake force. Increase the determined time to
make sure the axis really stops!
See also Functional Description "Motor Holding Brake"

Use

When the time entered in this parameter is over, the holding brake is activated
in different ways, depending on the operating principle (servo or main spindle
brake according to "P00525, Holding brake control word"):
Servo Brake

The drive internally sets a velocity command value of zero and the holding
brake is applied.

It then takes the time in "S00207, Drive off delay time" until the drive is
torque-free or force-free.

Main Spindle Brake

The drive becomes torque-free or force-free, the drive enable is switched


off internally.

When the speed is lower than 10 min-1, the brake is applied.


When the axis or spindle falls below the velocity of 10 min-1 or
10 mm/min before the time in S00273 is over, the brake is applied,
the drive enable is switched off with the delay "Drive off delay
time" (S00207).

S-0-0273 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
500 / Max100T
500 / Max100T
500 / Max100T

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
10000
10000
10000

148/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.3.29

S-0-0275, Coordinate offset value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)

MPD
MPD
MPD
MPD

In this parameter the difference is entered by which the actual position value
display changes (addition to current actual position value), when "S00199,
C3400 Shift coordinate system procedure command" is executed.
The unit of the value corresponds to the selected position scaling.

S-0-0275 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: MDT

Extr. val. ch.:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.3.30

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0277, Position feedback 1 type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter defines the essential properties of the motor encoder.


See also Functional Description "Absolute Measuring Systems"

Structure

Bit

Designation/function

kind of encoder
0: rotary
1: linear

distance-coded measuring system


0: no distance-coded reference marks
1: distance-coded reference marks (S00165, S00166)

rotational direction
0: not inverted
1: inverted

setup of distance-coded measuring system


0: positive direction of counting
1: negative direction of counting

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 149/1033


and Controls

Standard Parameters
Bit

Designation/function

7/6

absolute evaluation

Comment

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

13

force absolute encoder evaluation

as of MPx04,

0: bit 6 = 0 absolute evaluation deactivated


1: bit 6 = 0 absolute evaluation activated

not yet defined in


SERCOS

deactivation of encoder replacement monitoring

as of MPx04V26

0: encoder replacement monitoring has been activated, not defined in SER


i.e. encoder replacement is recognized (only for encoders COS
with data memory)
1: encoder replacement monitoring has been deactiva
ted, i.e. no error (F2174) is signaled when encoder is
replaced and the reference is possibly maintained; this
does not affect position initialization
ATTENTION: Only makes sense for mechanically adjus
ted encoders!

Fig.3-62:
Use

S-0-0277, Position feedback 1 type

For Rexroth housing motors (MHD, MKD, MKE, 2AD, ADF, MAD, MAF),
the bits 0, 1, 3 are set to the value "0"!

If the connected motor is a linear motor, bit 0 is set to "1".

Depending on the absolute encoder range and the maximum travel range
or modulo value, bit 6 is either set or cleared.

If absolute evaluation is possible (bit 6 =1), absolute evaluation is auto


matically activated. However, the user can deactivate it by setting bit 7.

Even if absolute evaluation is impossible (bit 6 = 0), the user can


"force" (activate) it via bit 8.

Property damage, if control on the master side takes place with regard
to incorrect actual position values!
CAUTION

S-0-0277 - Attributes

On the user side, make sure that when the actual position values are manually
"forced" via bit 8 to absolute evaluation the powered off axis never is shifted
by more than half the real absolute encoder range! Otherwise, collisions with
machine parts and workpiece rejects may occur when the axis is powered on
again!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: +
Default value
0x0000
0x0000
0x0000

150/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.3.31

S-0-0278, Maximum travel range


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The parameter "S00278, Maximum travel range" defines the maximum pos
sible mechanical travel distance of the machine.
See also Functional Description "Absolute Measuring Systems"

Use

Record of Modifications

S-0-0278 - Attributes

Depending on the selected scaling, modulo format or absolute format (see


also "S00076, Position data scaling type"), the input is a unipolar (modulo
format) or bipolar value (absolute format).

The parameter "S00278, Maximum travel range" influences the param


eters "S00256, Multiplication 1 (motor encoder)", "S00257, Multiplica
tion 2 (optional encoder)" and "P00129, Internal position data format"
and therefore the internal encoder and position resolution.

Moreover, the limits for velocity and acceleration of the drive-internal po


sition command value generator are influenced by the maximum travel
range.

Among other things, the maximum input values for "S00259, Positioning
Velocity" and "S00260, Positioning Acceleration" depend on the value in
S00278.

The greater the maximum travel range that has been set, the smaller the
multiplication and the internal position resolution and the higher the limit
values of the acceleration and velocity data.

The value for the maximum travel range also influences bit 6 of "S00277,
Position feedback 1 type" or "S00115, Position feedback 2 type". This
bit shows the possibility of absolute evaluation of the encoder.

Version

Attribute

GEN-02VRS

Editability: P2

GEN-02VRS

Validity ch.: P2-3

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

--

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.3.32

Comment

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
36000,0000
36000,0000
36000,0000

S-0-0279, IDN-list of password-protected operation data


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 151/1033


and Controls

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

By means of a customer password ("S00267, Password") the values of the


parameters contained in this list can be protected against inadvertent or unau
thorized changes.
In its default status this parameter contains an empty list. The user can enter
IDNs in this list according to his requirements.
See also Functional Description "Password"

S-0-0279 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.33

PM+OM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0282, Positioning command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By this parameter the control unit presets the target position (absolute position)
or a relative travel distance for the drive in the "Drive-controlled positioning"
mode.
The effective target position at which the drive positions can be read
at any time from "S00430, Effective target position"!
See also Functional Description "Drive-Controlled Positioning"

Use

Upon a change of the edge of bit 0 in "S00346, Positioning control word", the
drive, controlled by an internally generated position command value, moves to
an axis position that corresponds to the positioning command value (S00282).
In addition, the drive takes the following positioning data into account:

S-0-0282 - Attributes

S-0-0259, Positioning Velocity

S-0-0260, Positioning acceleration or S00359, Positioning deceleration

S-0-0193, Positioning jerk

S-0-0108, Feedrate override

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

S-0-0076

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
0,0000
0,0000
0,0000

152/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.3.34

S-0-0283, Current coordinate offset


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)

MPD
MPD
MPD
MPD

This parameter displays by which value the actual position value was offset
compared to the real actual position value, when S00197, C3300 Set coordi
nate system procedure command or S00199, C3400 Shift coordinate system
procedure command was executed.
The unit of the value corresponds to the selected position scaling.

S-0-0283 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

3.3.35

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0284, Secondary operation mode 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

The operating mode determined in this parameter is activated in the drive, if:

the secondary operating mode 4 was selected in the master control word
(bits 11, 9, 8 = "100") and

control and power sections are ready for operation and

drive enable "RF" was set.

See also Functional Description "Selecting the Operating Mode"


Use

The operating mode is determined by entering a binary value in this parameter.


In this value, certain positions have a fixed definition. In bit 3 you have to de
termine whether to work with lagless position control or with position control
with lag distance.
The following applies: bit 3 = 0 position control with lag distance
bit 3 = 1 lagless position control
The operating modes supported by the respective firmware are stored in pa
rameter S00292, List of all operating modes and when being read are dis
played in the form of a hexadecimal code.
The binary values assigned to the operating modes are listed in the
table "Overview of operating modes" in the parameter description
of S00292.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 153/1033


and Controls

Standard Parameters
S-0-0284 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.36

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

S-0-0285, Secondary operation mode 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

The operating mode determined in this parameter is activated in the drive, if:

the secondary operating mode 5 was selected in the master control word
(bits 11, 9, 8 = "101") and

control and power sections are ready for operation and

drive enable "RF" was set.

See also Functional Description "Selecting the Operating Mode"


Use

The operating mode is determined by entering a binary value in this parameter.


In this value, certain positions have a fixed definition. In bit 3 you have to de
termine whether to work with lagless position control or with position control
with lag distance.
The following applies: bit 3 = 0 position control with lag distance
bit 3 = 1 lagless position control
The operating modes supported by the respective firmware are stored in pa
rameter S00292, List of all operating modes and when being read are dis
played in the form of a hexadecimal code.
The binary values assigned to the operating modes are listed in the
table "Overview of operating modes" in the parameter description
of S00292.

S-0-0285 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.37

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

S-0-0286, Secondary operation mode 6


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

-
MPH
MPH
MPH

-
-
MPD
MPD

154/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

The operating mode determined in this parameter is activated in the drive, if:

the secondary operating mode 6 was selected in the master control word
(bits 11, 9, 8 = "110") and

control and power sections are ready for operation and

drive enable "RF" was set.

See also Functional Description "Selecting the Operating Mode"


Use

The operating mode is determined by entering a binary value in this parameter.


In this value, certain positions have a fixed definition. In bit 3 you have to de
termine whether to work with lagless position control or with position control
with lag distance.
The following applies: bit 3 = 0 position control with lag distance
bit 3 = 1 lagless position control
The operating modes supported by the respective firmware are stored in pa
rameter "S00292, List of all operating modes" and when being read are
displayed in the form of a hexadecimal code.
The binary values assigned to the operating modes are listed in the
table "Overview of operating modes" in the parameter description
of "S00292".

S-0-0286 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.38

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

S-0-0287, Secondary operation mode 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

The operating mode determined in this parameter is activated in the drive, if:

the secondary operating mode 7 was selected in the master control word
(bits 11, 9, 8 = "111") and

control and power sections are ready for operation and

drive enable "RF" was set.

See also Functional Description "Selecting the Operating Mode"


Use

The operating mode is determined by entering a binary value in this parameter.


In this value, certain positions have a fixed definition. In bit 3 you have to de
termine whether to work with lagless position control or with position control
with lag distance.
The following applies: bit 3 = 0 position control with lag distance
bit 3 = 1 lagless position control

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 155/1033


and Controls

Standard Parameters
The operating modes supported by the respective firmware are stored in pa
rameter "S00292, List of all operating modes" and when being read are
displayed in the form of a hexadecimal code.
The binary values assigned to the operating modes are listed in the
table "Overview of operating modes" in the parameter description
of S00292.
S-0-0287 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.39

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

S-0-0292, List of all operating modes


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

All operating modes that are supported by the drive firmware used are listed in
this parameter.
The codes (hexadecimal) of those operating modes are displayed that can be
entered in the parameters S00032 S00035 and S00284 S00287
(primary mode of operation and secondary operation modes) in the form of
binary values.
See also Functional Description "Operating Modes"

Structure

The following table shows a reference list of all possible operating modes with
their respective codes and binary values.
In accordance with the firmware used, the list parameter S00292
contains only a part of the codes listed in this overview.

Operating mode

Code displayed in
S-0-0292

Associated value of the


parameters
S-0-0032... S-0-0035

torque control

0x0001

0000.0000.0000.0001

velocity control

0x0002

0000.0000.0000.0010

position control, encoder 1

0x0003

0000.0000.0000.0011

position control, encoder 2

0x0004

0000.0000.0000.0100

position control lagless, encoder 1

0x000B

0000.0000.0000.1011

position control lagless, encoder 2

0x000C

0000.0000.0000.1100

drive-internal interpolation, encoder 1

0x0013

0000.0000.0001.0011

drive-internal interpolation, encoder 2

0x0014

0000.0000.0001.0100

156/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Operating mode

Code displayed in
S-0-0292

Associated value of the


parameters
S-0-0032... S-0-0035

drive-internal interpolation lagless, encoder 1

0x001B

0000.0000.0001.1011

drive-internal interpolation lagless, encoder 2

0x001C

0000.0000.0001.1100

positioning block mode, encoder 1

0x0033

0000.0000.0011.0011

positioning block mode, encoder 2

0x0034

0000.0000.0011.0100

positioning block mode lagless, encoder 1

0x003B

0000.0000.0011.1011

positioning block mode lagless, encoder 2

0x003C

0000.0000.0011.1100

position control drive-controlled, encoder 1

0x0103

0000.0001.0000.0011

position control drive-controlled, encoder 2

0x0104

0000.0001.0000.0100

position control drive-controlled lagless, encoder 1

0x010B

0000.0001.0000.1011

position control drive-controlled lagless, encoder 2

0x010C

0000.0001.0000.1100

drive-controlled positioning, encoder 1

0x0213

0000.0010.0001.0011

drive-controlled positioning, encoder 2

0x0214

0000.0010.0001.0100

drive-controlled positioning lagless, encoder 1

0x021B

0000.0010.0001.1011

drive-controlled positioning lagless, encoder 2

0x021C

0000.0010.0001.1100

cam shaft, encoder 1, virtual master axis

0x8803

1000.1000.0000.0011

cam shaft, encoder 2, virtual master axis

0x8804

1000.1000.0000.0100

cam shaft lagless, encoder 1, virtual master axis

0x880B

1000.1000.0000.1011

cam shaft lagless, encoder 2, virtual master axis

0x880C

1000.1000.0000.1100

cam shaft, encoder 1, real master axis

0x8813

1000.1000.0001.0011

cam shaft, encoder 2, real master axis

0x8814

1000.1000.0001.0100

cam shaft lagless, encoder 1, real master axis

0x881B

1000.1000.0001.1011

cam shaft lagless, encoder 2, real master axis

0x881C

1000.1000.0001.1100

phase synchronization, encoder 1, virtual master axis

0x9003

1001.0000.0000.0011

phase synchronization, encoder 2, virtual master axis

0x9004

1001.0000.0000.0100

phase synchronization lagless, encoder 1, virtual master axis

0x900B

1001.0000.0000.1011

phase synchronization lagless, encoder 2, virtual master axis

0x900C

1001.0000.0000.1100

phase synchronization, encoder 1, real master axis

0x9013

1001.0000.0001.0011

phase synchronization, encoder 2, real master axis

0x9014

1001.0000.0001.0100

phase synchronization lagless, encoder 1, real master axis

0x901B

1001.0000.0001.1011

phase synchronization lagless, encoder 2, real master axis

0x901C

1001.0000.0001.1100

velocity synchronization, virtual master axis

0xA002

1010.0000.0000.0010

velocity synchronization, real master axis

0xA012

1010.0000.0001.0010

motion profile, encoder 1, virtual master axis

0x9803

1001.1000.0000.0011

motion profile, encoder 2, virtual master axis

0x9804

1001.1000.0000.0100

motion profile lagless, encoder 1, virtual master axis

0x980B

1001.1000.0000.1011

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 157/1033


and Controls

Standard Parameters
Operating mode

Code displayed in
S-0-0292

Associated value of the


parameters
S-0-0032... S-0-0035

motion profile lagless, encoder 2, virtual master axis

0x980C

1001.1000.0000.1100

motion profile, encoder 1, real master axis

0x9813

1001.1000.0001.0011

motion profile, encoder 2, real master axis

0x9814

1001.1000.0001.0100

motion profile lagless, encoder 1, real master axis

0x981B

1001.1000.0001.1011

motion profile lagless, encoder 2, real master axis

0x981C

1001.1000.0001.1100

position control drive-controlled

0x0305

0000.0011.0000.0101

drive-controlled positioning

0x0215

0000.0010.0001.0101

positioning block mode

0x0235

0000.0010.0011.0101

velocity synchronization

0x0042

0000.0000.0100.0010

position synchronization

0x0245

0000.0010.0100.0101

Fig.3-63:
S-0-0292 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Overview of operating modes with codes and binary values


Par
----

Input
MPB:
MPD:
MPH:

3.3.40

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0293, C2400 Selectively backup working memory procedure com


mand
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this command the contents of all parameters the IDNs of which
are listed in parameter "S00270, Selected IDN list of operation data to backup"
are saved from the working memory (volatile memory) to the active non-volatile
memory. The active non-volatile memory can be the internal flash memory or
the MultiMediaCard (MMC) if it has been plugged.
See also Functional Description "Command Processing"

S-0-0293 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

158/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.3.41

S-0-0298, Reference cam shift


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter displays the distance by which the home switch (reference cam)
is to be shifted in order to realize the optimum distance between home switch
and selected reference mark of the encoder.
See also Functional Description "Establishing the Position Data Reference"

Use

When homing an axis an actual position value referred to the axis zero point is
assigned to a reference mark of the encoder. If the encoder has several refer
ence marks over the travel range of the axis, it is necessary to select one and
always the same reference mark for an unequivocal reference to the axis zero
point. This is done with a home switch that is mounted at one end of the travel
range. The switch is actuated by the axis during homing, the position reference
to the axis zero point is established by the next reference mark of the encoder
the axis passes. The distance between home switch and reference mark
mustn't fall below a minimum value. Otherwise, depending on the situation, it
may not be the next reference mark that is recognized after the home switch
signal, but only the reference mark after the next. This would not allow estab
lishing an unequivocally reproducible zero point reference to the axis; the
distance between home switch and reference mark is therefore monitored by
the drive.
Monitoring

The optimum distance between home switch and reference mark is dis
played in "S-0-0298, Reference cam shift".

If the distance is outside of the allowed range, the command "S00148,


C0600 Drive-controlled homing procedure command" is terminated with
the error "C0602 Distance home switch - reference mark erroneous".

Establishing the Regular Status


If the distance is outside of the allowed range, the distance is displayed in this
parameter (S00298). The regular status can be established by means of pa
rameter or mechanically:

Enter the value that is displayed in S00298 in the parameter "S00299,


Home switch offset". This causes the effective home switch signal to be
shifted with regard to the actually existing one. Or:

Shift the position of the home switch by the value displayed in S00298.
The settings for home switch, reference mark, encoder and homing
procedure are made in "S00147, Homing parameter"!

S-0-0298 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: -Input


MPB:

Comb. check: -min./max.


--- / ---

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 159/1033


and Controls

Standard Parameters
MPD:
MPH:

3.3.42

--- / ----- / ---

-----

S-0-0299, Home switch offset


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By means of this parameter it is possible to virtually offset, by a certain distance,


the point at which the home switch signal becomes effective with regard to the
real switch point. This distance is entered in this parameter.
See also Functional Description "Establishing the Position Data Reference"

Use

The value for the distance is displayed in "S00298, Reference cam shift",
when the "Drive-controlled homing procedure" command is terminated with the
"C0602 Distance home switch - reference mark erroneous" error.
It is now only the reference mark after the next reference mark of
the encoder that is detected after the home switch signal. This al
lows establishing an unequivocally reproducible zero point refer
ence to the axis. Depending on the situation, this would not have
been possible with the next reference mark!

S-0-0299 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.3.43

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: +

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0301, Allocation of real-time control bit 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of the real-time control bits 1 and 2 it is possible to directly write, at


each case, one bit of a parameter in the drive.

The IDN of the parameter containing the bit to be written by the real-time
control bit 1 is entered in parameter S00301.

The bit number is entered in "S00413, Bit number allocation of real-time


control bit 1".
The IDNs of the parameters that can be entered in S00301 are
contained in "S00399, IDN list of configurable data in the signal
control word". Command parameters, however, are not possible!

160/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
See also Functional Description "Real-Time Control Bits and Real-Time Status
Bits"
Use

S-0-0301 - Attributes

The real time control bits are part of the parameter "S00134, Master control
word" and are cyclically ("in real time") sent to the drive, i.e. in the clock of the
SERCOS communication one bit of the assigned parameter can be written.

Function:
Memory:
Unit:
Cycl. tra.:

If the respective parameter is not available, the drive reacts


with the service channel error message "Invalid data".

If the respective parameter is available but cannot be written


in phase 4, the drive reacts with the error message "Invalid
data".

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.44

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
P2->P3
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

S-0-0303, Allocation of real-time control bit 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of the real-time control bits 1 and 2 it is possible to directly write, at


each case, one bit of a parameter in the drive.

The IDN of the parameter containing the bit to be written by the real-time
control bit 2 is entered in parameter S00303.

The bit number is entered in "S00414, Bit number allocation of real-time


control bit 2".
The IDNs of the parameters that can be entered in S00303 are
contained in "S00399, IDN list of configurable data in the signal
control word". Command parameters, however, are not possible!

See also Functional Description "Real-Time Control Bits and Real-Time Status
Bits"
Use

S-0-0303 - Attributes

The real time control bits are part of the parameter "S00134, Master control
word" and are cyclically ("in real time") sent to the drive, i.e. in the clock of the
SERCOS communication one bit of the assigned parameter can be written.

If the respective parameter is not available, the drive reacts


with the service channel error message "Invalid data".

If the respective parameter is available but cannot be written


in phase 4, the drive reacts with the error message "Invalid
data".

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

P234
P2->P3

Data length:
Format:

2Byte
IDN

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 161/1033


and Controls

Standard Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

3.3.45

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

S-0-0305, Allocation of real-time status bit 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of the real-time status bits 1 and 2 it is possible to map a parameter


bit for direct access by a control unit to "S00135, Drive status word".

The IDN of the parameter containing the bit to be read by the real-time
status bit 1 is entered in parameter S00305.

The bit number is entered in "S00415, Bit number allocation of real-time


status bit 1".
The IDNs of the parameters that can be entered in S00305 are
contained in "S00398, IDN list of configurable data in signal status
word".

See also Functional Description "Real-Time Control Bits and Real-Time Status
Bits"
Use

S-0-0305 - Attributes

The real-time status bits are part of the parameter "S00135, Drive status word"
and are cyclically ("in real time") sent by the drive to the master, i.e. in the clock
of the SERCOS communication one bit of the assigned parameter can be eval
uated in the master.

Function:
Memory:
Unit:
Cycl. tra.:

If the respective parameter is not available, the drive reacts


with the service channel error message "Invalid data".

If the respective parameter is available but cannot be written


in phase 4, the drive reacts with the error message "Invalid
data".

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.46

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
P2->P3
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

S-0-0307, Allocation of real-time status bit 2


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

162/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

By means of the real-time status bits 1 and 2 it is possible to map a parameter


bit for direct access by a control unit to "S00135, Drive status word".

The IDN of the parameter containing the bit to be read by the real-time
status bit 2 is entered in parameter S00307.

The bit number is entered in "S00416, Bit number allocation of real-time


status bit 2".

See also Functional Description "Real-Time Control Bits and Real-Time Status
Bits"
Use

The IDNs of the parameters that can be entered in S00307 are


contained in "S00398, IDN list of configurable data in signal status
word".
The real-time status bits are part of the parameter "S00135, Drive status word"
and are cyclically ("in real time") sent by the drive to the master, i.e. in the clock
of the SERCOS communication one bit of the assigned parameter can be eval
uated in the master.

S-0-0307 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

If the respective parameter is not available, the drive reacts


with the service channel error message "Invalid data".

If the respective parameter is available but cannot be written


in phase 4, the drive reacts with the error message "Invalid
data".

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.47

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
P2->P3
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

S-0-0315, Positioning velocity > nLimit


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

When the positioning velocity with active positioning mode (interpolation, po


sitioning or positioning block mode) has exceeded the limit value indicated in
S00091,

limitation to the value in S00091 takes place in the ramp generator and

the message "Positioning velocity > nLimit" is generated, i.e. bit 0 is set in
S00315.
The message bit can be configured, for example, in the signal con
trol word or as real-time status bit!

See also Functional Description "Drive-Controlled Positioning"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 163/1033


and Controls

Standard Parameters
See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Internal Interpolation "
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters"
S-0-0315 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.48

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0323, Target position outside of travel range


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

When the new target position with active positioning mode (interpolation, po
sitioning or positioning block mode) is outside of the position limit values (cf.
S00049, S00050) and the drive has been homed,

the drive generates the warning E2053 Target position out of travel range
and

the message "target position outside of travel range" (i.e. bit 0 in S00323)
is generated.
The message bit can be configured, for example, in the signal con
trol word or as real-time status bit!

See also Functional Description "Drive-Controlled Positioning"


See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Internal Interpolation"
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters"
S-0-0323 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.49

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0326, Parameter checksum


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

164/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

When reading this parameter the checksum is generated by all parameter val
ues the IDNs of which are listed in parameter "S00327, IDN list of checksum
parameter".
See also Functional Description "Parameters, Basics"

S-0-0326 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.3.50

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0327, IDN list of checksum parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The IDNs of those parameters the checksum of which is to be generated are


entered in this parameter. The checksum generation is triggered with the read
ing of the S00326, Parameter checksum parameter. In the condition as
supplied the parameter S00327 does not yet contain any IDNs.
See also Functional Description "Parameters, Basics"

S-0-0327 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.51

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0328, Assign list signal status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this list parameter the assignment is made which bit of the respective pa
rameter entered in S00026, Configuration list signal status word is to be
mapped to S00144,Signal status word.
See also Functional Description "Configurable Signal Status Word"

Use

The first line of the list contains the number of the bit of the first parameter from
the S00026 list that is mapped in the LSB of S00144. The other lines of the
list correspond respectively with the other parameters from the list of S00026
and the more significant bits of S00144.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 165/1033


and Controls

Standard Parameters
S-0-0328 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.52

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 31
0 / 31
0 / 31

Default value
-------

S-0-0329, Assign list signal control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this list parameter the assignment is made which bit of the respective pa
rameter entered in S00027, Configuration list signal control word is written via
the signal control word (S00145).
See also Functional Description "Configurable Signal Control Word"

Use

S-0-0329 - Attributes

The first line of the list contains the number of the bit of the first parameter from
the S00027 list that is written with the LSB of S00145. The other lines of the
list correspond respectively with the other parameters from the list of S00027
and the more significant bits of S00145.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.53

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 31
0 / 31
0 / 31

Default value
-------

S-0-0330, Message 'n_actual = n_command'


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays whether the actual velocity value has reached the
command value within a tolerance window (message "n_actual = n_com
mand").
|S-0-0040 S-0-0036 S-0-0037| <= S-0-0157

Use

Bit 0 of this parameter becomes "1" when the absolute value of S00040, Ve
locity feedback value is within the range of values limited by the resulting
velocity command value (S00036 + S00037) +/- S00157, Velocity window.
This message also appears in S00013, Class 3 diagnostics.
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters"

166/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
S-0-0330 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.54

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0331, Status 'n_feedback = 0'


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays whether the actual velocity value has fallen below a
threshold value that can be set, below which the controller recognizes motor or
axis standstill ("n_feedback = 0" message).
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters"

Use

S-0-0331 - Attributes

Bit 0 of this parameter becomes "1" when the absolute value of S00040, Ve
locity feedback value is smaller than the value of S00124, Standstill window.
This message also appears in S00013, Class 3 diagnostics.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.55

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0332, Message 'nactual < nx'


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays whether the actual velocity value has fallen below a
threshold value that can be set ("n_actual = nx" message).
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters"

Use

S-0-0332 - Attributes

Bit 0 of this parameter becomes "1" when the absolute value of S00040, Ve
locity feedback value is smaller than the value of S00125, Velocity threshold
nx. This message also appears in S00013, Class 3 diagnostics.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 167/1033


and Controls

Standard Parameters
Input
MPB:
MPD:
MPH:

3.3.56

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0333, Message 'T >= Tx'


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter indicates whether the actual torque or force value has exceeded
a threshold value ("T >= Tx" message) that can be set.
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters"

Use

S-0-0333 - Attributes

Bit 0 of this parameter becomes "1" when the absolute value of S00084, Tor
que/force feedback value is greater than or equal to the value of S00126,
Torque threshold Tx. This message also appears in S00013, Class 3 diag
nostics.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.57

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0334, Message 'T >= Tlimit'


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter indicates whether the actual torque or force value has reached
the limit value ("T >= Tlimit" message).
The limit value is generated by the smallest value of

P-0-0109, Torque/force peak limit

S-0-0092, Bipolar torque/force limit value

S-0-0082, Torque/force limit value positive

S-0-0083, Torque/force limit value negative

work load-dependent limits by motor and controller.

See also Functional Description "Velocity Limitation"


Use

Bit 0 of this parameter becomes "1" when the absolute value of S00084, Tor
que/force feedback value is equal to or greater than the mentioned limit value.
The current limit values can be called up via

P00444, Actual value peak torque limit

P-0-0442, Actual value torque limit positive (stationary)

168/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

P-0-0443, Actual value torque limit negative (stationary)

This message also appears in S00013, Class 3 diagnostics.


S-0-0334 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.58

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0335, Message 'n command > n limit'


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays when the absolute velocity command value is greater
than the velocity limit value that can be set ("'n command > n limit" message).
See also Functional Description "Velocity Limitation"

Use

Bit 0 of this parameter becomes "1", when the absolute value of the resulting
velocity command value (S00036 + S00037) is greater than the value of
S00091, Bipolar velocity limit value.
This message also appears in S00013, Class 3 diagnostics.

S-0-0335 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.59

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0336, Message In position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

If an operating mode with internal position control has been activated in the
drive, this parameter is used to map the '"In Position"' message to an individual
IDN (bit 0). This allows assigning the status message to a real-time status bit
in "S00135, Drive status word".
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters "
See also Functional Description "Real-Time Control Bits and Real-Time Status
Bits"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 169/1033


and Controls

Standard Parameters
Use

The 'In Position' message (S-0-0336 Bit 0 = 1) is also defined as a bit in class
3 diagnostics (S-0-0013 Bit 6) and is set when the following distance (S-0-0189)
is smaller than the position window (S-0-0057).
When executing the "Position spindle" command the message is
set when the spindle is in position.

S-0-0336 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.3.60

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0337, Message 'P >= Px'


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter indicates whether the absolute value of the actual power value
has exceeded a threshold value that can be set ("P >= Px" message). Bit 0 of
this parameter becomes "1" when the absolute value of "S00382, DC bus
power" is greater than or equal to the value of "S00158, Power threshold Px".
This message also appears in "S00013, Class 3 diagnostics".

S-0-0337 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.3.61

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0338, Message In target position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

When the drive positions at the active target position S00430, it generates this
message if

the actual position value of the axis is within the position window around
the active target position ( In-Position: "S00336")

and

the axis has stopped, i.e. the actual velocity is within the S00124, Stand
still window ( In-Standstill: "S00331").

170/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
The message bit can be configured, for example, in the signal con
trol word or as real-time status bit! The message is generated after
initialization in any status, i.e. also with operating mode not activa
ted!
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Internal Interpolation"
S-0-0338 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.3.62

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0341, Status "In coarse position"


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter was introduced for the 'In Position coarse' message in order to
make the assignment to a real-time status bit (e.g. S00303) possible. The
'In Position coarse' message (S00341 Bit 0 = 1) is also defined as a bit in class
3 diagnostics (S-0-0013 Bit 11) and is set when S00189, Following error is
smaller than S00261, Positioning window coarse.
See also Functional Description "Status Classes, Status Displays, Control Pa
rameters "

S-0-0341 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.3.63

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0342, Status "Target position attained"


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter displays whether the internally generated position command


value has reached the target position.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 171/1033


and Controls

Standard Parameters
Bit 0 of this parameter becomes "1" when the command value of the interpolator
(P00434, Position command value controller), in the case of drive-controlled
positioning processes, has reached the target position (P00050, Effective tar
get position).
See also Functional Description "Drive-Internal Interpolation"
See also Functional Description "Drive-Controlled Positioning"
S-0-0342 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.64

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0343, Status "Interpolator halted"


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Message parameter that, with the value "1", displays the following interpolator
(command value generator) states in the "Drive-internal interpolation" and
"Drive-controlled positioning" modes:

velocity command value (P00048) is zero and

drive-internal position command value (P00434) has not yet reached the
target position (S00258 or P00050).
This message signals that the value "0" is written to "S00259, Po
sitioning Velocity" during a positioning process, for example.

See also Functional Description "Drive-Internal Interpolation"


See also Functional Description "Drive-Controlled Positioning"
S-0-0343 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.65

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0346, Positioning control word


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

172/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

This parameter is used as control word in all drive-internal positioning modes


to control the positioning operation.
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Internal Interpolation"

Structure

The parameter has the following structure:


Bit

Designation/function

acceptance of positioning command value

Comment

applied by toggling
2/1

activation of positioning
00: positioning active, started by toggling of bit 0
positioning aborted by:
01: infinite travel in positive direction (jog+)
10: infinite travel in negative direction (jog-)
11: stopping the axis (positioning stop)

kind of positioning command value


0: absolute
1: relative (depending on bit 4!)

dedicated point for relative positioning command values


0: last effective target position (S-0-0430)
1: current actual position value (S-0-0386)

immediate block change


0: drive moves to current target position, before positioning at
new target position
1: immediate block change, i.e. drive immediately moves to new
target position

7/6

behavior for sequential block (bit 5=0)


00: halt at target position of start block
01: overrunning target position of start block (mode 1)
10: overrunning target position of start block (mode 2)

Fig.3-64:
Use

Relevant bits of S-0-0346, Positioning control word

Bit 0: command values or block applied by toggling

"S00282, Positioning command value" for drive-controlled posi


tioning (absolute position)

"P-0-4026, Positioning block selection" for positioning block mode;


in this case, the command values or block are actually applied by a
0 1 edge of P-0-4060, bit 0!
When the command value is applied, this is afterwards confirmed
with "S00419, Positioning command acknowledge".

Bit 4: dedicated point for relative positioning command values

Bit 4 = 0: incremental dimension reference is maintained

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 173/1033


and Controls

Standard Parameters
Reference for positioning is previous target position (S-0-0430), i.e.
any possibly existing residual path is taken into account for relative
positioning (e.g. residual path of 20 mm + 100 mm relative target
position result in travel motion of 120 mm!). Incremental dimension
is maintained in the case of successive positioning procedures!

Bit 4 = 1: incremental dimension reference gets lost Reference for


positioning is current actual position value (cf. S-0-0386), any pos
sibly existing residual path is not traveled (e.g. residual path of 20
mm + 100 mm relative target position result in travel motion of 100
mm!). Incremental dimension reference gets lost in the case of
successive rel. process blocks!
In the context of absolute positioning procedures, bit 4 only takes
effect in connection with special cases, i.e. with command "positive
stop drive procedure" or in modulo mode, and only has to be taken
into account in these cases!

Bit 7,6: behavior with sequential block mode


(Sequential block mode requires setting S-0-0134, bit 5=0)

0,0: intermediate stop - block transition with halt at target position of


start block

0,1: mode 1 - Block transition with velocity of start block, i.e. the target
position of the start block is overrun with the velocity of the start block.

1,0: mode 2 - Block transition with velocity of sequential block, i.e.


the target position of the start block is overrun with the velocity of the
sequential block. Possibly required changes in velocity already take
place during the start block. Switching to the next target position does
not occur until the previous target position is overrun.
For field bus drives, some of the bits are already contained in the
field bus control word (cf. P-0-4077)!

S-0-0346 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

3.3.66

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

S-0-0347, Velocity error


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The S00347 parameter indicates the difference between velocity command


value and actual velocity value in the velocity control loop.

174/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

Fig.3-65:

S-0-0347, Speed deviation

See also Functional Description "Velocity Loop"


S-0-0347 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

3.3.67

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

S-0-0348, Acceleration feedforward gain


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Modification Note
As of MP*03VRS the data length is increased from 2 bytes to
4 bytes and the number of decimal places for rotary motors is in
creased to 4 places. For linear motors there still is one decimal
place!
Operating Principle
The acceleration feedforward reduces the lag error during acceleration in lag
less operation.
The acceleration feedforward only takes effect in lagless operation
(cf. "P00040").
The acceleration command value obtained from double differentiation of the
position command value is multiplied with the content of S00348 and added
to the torque/force command value at the velocity controller output.
See also Functional Description "Control Loop Structure"
See also Functional Description "Position Loop"

Use

Input Values

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 175/1033


and Controls

Standard Parameters
The acceleration feedforward is activated by entering a value in
"S00348, Acceleration feedforward gain" that is greater than "0"!
(S00348 = 0 switched off)!
For optimum parameterization of the acceleration feedforward the following
data have to be entered in "S00348, Acceleration feedforward gain":

total mass (motor + load) in kg (linear motor),

total mass inertia (motor + load), referring to the motor output shaft, in
kgm^2 (rotary motor).
Depending on the respective mechanical system, the input value of
"S00348, Acceleration feedforward gain" has to be adjusted on
site.

Unit, Decimal Places


The drive firmware automatically adjusts the unit and decimal places (as of
MP*03VRS) to the type of construction of the motor (rotary or linear) entered
in "P04014, Type of construction of motor".

rotary motor: mN*m / rad/s^2 g*m^2

linear motor: mN / mm/s^2 kg.

Record of Modifications

S-0-0348 - Attributes

Version

Attribute

GEN-02VRS

Data l.: 2Byte

GEN-02VRS

MPB: min/max: 65535

GEN-02VRS

MPD: min/max: 65535

GEN-02VRS

MPH: min/max: 65535

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
P-0-4014
--

Input
MPB:
MPD:
MPH:

3.3.68

Comment

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
P-0-4014
set switchable: +

min./max.
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong

Default value
0,0000
0,0000
0,0000

S-0-0349, Jerk limit bipolar


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The bipolar jerk limit value, in the operating modes listed below, describes the
maximum allowed acceleration change per time (= jerk), symmetrically in both
directions (acceleration and deceleration).
The limit value takes effect in the following operating modes:

Position control

drive-internal interpolation

176/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

drive-controlled positioning
The bipolar jerk limit value limits the change in acceleration per time
for "Drive Halt", the error reaction quick stop (velocity command
value reset with filter and ramp) and the commands that are gen
erating their own position command values. The value "0" switches
the jerk filter off!

See also Functional Description "Establishing the Position Data Reference"


See also Functional Description "Spindle Positioning"
See also Functional Description "Drive Halt"
S-0-0349 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: --

Extr. val. ch.:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: +

Comb. check: --

Input
MPB:
MPD:
MPH:

3.3.69

Data length:
Format:

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
0,000
0,000
0,000

S-0-0359, Positioning deceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By this parameter the maximum deceleration at which to move to the target


position ("S00258, Target position" or "S-0-0282, Positioning command val
ue") is preset for the drive in the "drive-internal interpolation" and "drivecontrolled positioning" modes.
See also Functional Description "Drive-Internal Interpolation"
See also Functional Description "Drive-Controlled Positioning"

Use

The internally generated position command value sequence, apart from the
positioning acceleration (S00260) or deceleration (S00359), takes the max
imum positioning velocity (S00259), the maximum positioning jerk (S00193)
and the feedrate override (S00108) into consideration.
The acceleration is limited to the value of "S-0-0138, Bipolar accel
eration limit value". The value of parameter "S-0-0359, Positioning
deceleration" should always be smaller than the value of parameter
"S-0-0138, Bipolar acceleration limit value", because otherwise a
lag error will build up due to internal control processes. When the
value "0" is input for the parameter, the parameter "S-0-0138" will
take effect.

S-0-0359 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: AT + MDT

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 177/1033


and Controls

Standard Parameters
Input
MPB:
MPD:
MPH:

3.3.70

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
1000,000
1000,000
1000,000

S-0-0360, Data container A: command value 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

In this parameter the master transmits the data which in the drive is written to
the target parameter addressed via S00368, Data container A: addressing
from S00370, Data container A: configuration list command value-1.
If a 2-byte target parameter is addressed with 2-byte data, only the low word of
S00360, Data container A: command value 1 is used. In order to use the data
container, the parameter S00360 has to be entered in the list of cyclic data
S00024 in phase 2.
See also Functional Description "Multiplex Channel"

S-0-0360 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

3.3.71

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0362, Data container A: list index command values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter contains the list index by means of which it is possible to access
individual list elements configured in "data container A: configuration list com
mand value-x".
It is thereby possible with the multiplex channel to write individual elements of
a list via an index in a controlled way. The parameter S00362, Data container
A: list index command values can, depending on the requirements, be config
ured in the cyclic command values or write accessed via the non-cyclical data
channel or some other interface.
The parameter becomes effective only if a list parameter is ad
dressed via S00368, Data container A: addressing.
See also Functional Description "Multiplex Channel"

S-0-0362 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

178/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Input
MPB:
MPD:
MPH:

3.3.72

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0364, Data container A: feedback value 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

To parameter S00364 the drive copies the data of the source parameter ad
dressed via S00368, Data container A: addressing from S00371, Data
container A: configuration list feedback value-1.
See also Functional Description "Multiplex Channel"

Use

S-0-0364 - Attributes

If a 2-byte source parameter is addressed with 2-byte data, only the low word
is copied to S00364, Data container A: feedback value 1. In order to use the
data container, the parameter S00364 has to be entered in the list of cyclic
data S00016 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.3.73

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0366, Data container A: list index feedback values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter contains the list index by means of which it is possible to access
individual list elements configured in "data container A: configuration list feed
back value-x".
See also Functional Description "Multiplex Channel"

Use

It is thereby possible with the multiplex channel to read individual elements of


a list via an index in a controlled way. The parameter S00366, Data container
A: list index feedback values can, depending on the requirements, be config
ured in the cyclic command values or write accessed via the non-cyclical data
channel or some other interface.
The parameter becomes effective only if a list parameter is ad
dressed via S00368, Data container A: addressing.

S-0-0366 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 179/1033


and Controls

Standard Parameters
Input
MPB:
MPD:
MPH:

3.3.74

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0368, Data container A: addressing


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter contains the indices by means of which the parameter lists "data
container A: configuration list command value-x" and "data container A: con
figuration list feedback value-x" are accessed. This defines the content of the
two data containers "data container A: configuration list command value-x" and
"data container A: configuration list feedback value-x". Only bits 0...4 (for com
mand values) and 8...12 (for actual values) are used for addressing; the other
bits are cut off.
See also Functional Description "Multiplex Channel"

Structure

Bit

Designation/function

0-4

addressing for command values

8-12

addressing for actual values

Fig.3-66:

Comment

S-0-0368, Data container A: addressing

If the indicated index is greater than the number of elements in the


respective list, the warning "E4008 Invalid addressing command
value data container A" or "E4009 Invalid addressing actual value
data container A" is generated.
The parameter "S00368, Data container A: addressing" can, de
pending on the requirements, be configured in the cyclic command
values or write accessed via the non-cyclical data channel or some
other interface.
S-0-0368 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

3.3.75

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0370, Data container A: configuration list command value-1


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

180/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

Those IDNs are entered in parameter S00370 which are transmitted in


"S00360, Data container A: command value 1" depending on the index in
"S00368, Data container A: addressing", low byte. Write accessing S-0-0370
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0370 are contained
in the lists "S00188, List of configurable data in the MDT". If this is not the
case, the command error "C0151 IDN for command value data container not
allowed" is generated.
A maximum of 32 IDNs can be configured in S-0-0370.

S-0-0370 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.3.76

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0371, Data container A: configuration list feedback value-1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00371 which are transmitted in


"S00364, Data container A: feedback value 1" depending on the index in
"S00368, Data container A: addressing", high byte. Write accessing S-0-0371
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0371 are contained
in the lists "S00187, List of configurable data in the AT".
If this is not the case, the command error "C0152 ,IDN for actual value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S-0-0371.

S-0-0371 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 181/1033


and Controls

Standard Parameters

3.3.77

S-0-0372, Drive Halt acceleration bipolar


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter you have to set with which maximum deceleration value a
drive is shut down in the case of

speed command value reset with ramp

Drive Halt

See also Functional Description "Drive Halt"


See also Functional Description "Best Possible Deceleration"
Use

In addition, the value of this parameter takes effect as the maximum accelera
tion or deceleration during the spindle positioning process (C0900 Position
spindle command).
The acceleration is limited to the value of "S-0-0138, Bipolar accel
eration limit value". The value of parameter "S-0-0372, Drive Halt
acceleration bipolar" should always be smaller than the value of
parameter "S-0-0138, Bipolar acceleration limit value", because
otherwise a lag error will build up due to internal control processes.
When the value "0" is input for the parameter, the parameter
"S-0-0138" will take effect.

Record of Modifications

S-0-0372 - Attributes

Version

Attribute

GEN-02VRS

Cycl. tra.: no

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.3.78

Comment

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: +

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
10000,000
10000,000
10000,000

S-0-0375, List of diagnostic numbers


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The drive enters every change of parameter "S00390, Diagnostic message


number" in this list. The list is organized as a ring buffer; it can contain up to 50
diagnostic message numbers. When the list is read, the last diagnostic mes
sage number displayed is displayed in the 1st element of the parameter.
See also Functional Description "Diagnostic System"

182/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
S-0-0375 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.3.79

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0378, Absolute encoder range of motor encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter indicates the maximum extent of the travel range that can be
selected so that an absolute motor encoder can be evaluated in absolute form.
See also Functional Description "Absolute Measuring Systems"

Use

S-0-0378 - Attributes

If the encoder position exceeds this maximum travel range, bit 6 in the position
feedback type parameter (S00277) is set to zero. The actual position value
displayed is no longer unequivocal and the reference of the motor encoder is
cleared. The reference status of the position encoders connected to the drive
is displayed in parameter "S00403, Position feedback value status".
Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.3.80

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
-------

S-0-0379, Absolute encoder range of optional encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter indicates the maximum extent of the travel range that can be
selected so that an absolute external (optional) encoder can be evaluated in
absolute form.
See also Functional Description "Absolute Measuring Systems"

Use

If the encoder position exceeds this maximum travel range, bit 6 in the position
feedback type parameter (S00117) is set to zero. The actual position value
displayed is no longer unequivocal and the reference of the external encoder
is cleared. The reference status of the position encoders connected to the drive
is displayed in parameter S00403, Position feedback value status.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 183/1033


and Controls

Standard Parameters
S-0-0379 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.3.81

Function
S-0-0380 - Attributes

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

Default value
-------

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to display the DC bus voltage currently measured.


Function:
Memory:
Unit:
Cycl. tra.:

Par
-V
AT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0382, DC bus power


Allocation

Function
S-0-0382 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays the DC bus power currently demanded by the motor.
Function:
Memory:
Unit:
Cycl. tra.:

Par
-Watt
AT

Input
MPB:
MPD:
MPH:

3.3.83

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

S-0-0380, DC bus voltage


Allocation

3.3.82

Data length:
Format:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0383, Motor temperature


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

184/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

This parameter indicates the measured value of the winding temperature of the
motor, if the temperature sensor incorporated in the motor allows analog tem
perature evaluation!
In the case of MHD, MKD, MKE and LSF motors, the values indi
cated by S00383 do not allow, due to the temperature sensor
characteristic (switching performance), drawing a conclusion re
garding the actual motor temperature!
See also Functional Description "Motor Temperature Monitoring"

S-0-0383 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-S-0-0208
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.84

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0384, Amplifier temperature


Allocation

Function
S-0-0384 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Display parameter for the measured temperature of the controller power output
stage (heat sink temperature).
Function:
Memory:
Unit:
Cycl. tra.:

Par
-S-0-0208
AT

Input
MPB:
MPD:
MPH:

3.3.85

nein
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0386, Active position feedback value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The value of parameter S00386, Active position feedback value always dis
plays the current position of the encoder that was set in the presently active
operating mode.
According to the operating mode that was set, the active actual position value
therefore either corresponds to parameter "S00051, Position feedback 1 val
ue" or to parameter "S00053, Position feedback 2 value".

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 185/1033


and Controls

Standard Parameters
S-0-0386 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

3.3.86

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0390, Diagnostic message number


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The diagnostic message number shown on the display is stored in this param
eter. This enables the control unit to generate its own diagnostic messages by
means of this number (e.g. in languages in which the diagnostic message texts
have not been stored in the drive).
Example:
Diagnostic message (in parameter S00095): "F8022 Enc. 1 error: sign. am
plitude (can be cleared in ph.2)"
Diagnostic message number (in parameter S00390): "F8022(hex)"
In the case of multi-axis firmware, the parameter is available once per axis.
See also Functional Description "Coded Diagnostic Drive Messages"

S-0-0390 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.3.87

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0391, Monitoring window feedback 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The value of this parameter defines the maximum allowed deviation of the ac
tual position values of motor encoder and external encoder ("S00051, Position
feedback 1 value", "S00053, Position feedback 2 value").
If this value is exceeded, the error "F2036 Excessive position feedback differ
ence" is generated. The monitor is only active when both encoders were
homed. The monitor can be switched off by writing the value "0" to this param
eter.

186/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
See also Functional Description "Monitoring the Measuring Systems"
Record of Modifications

S-0-0391 - Attributes

Version

Attribute

GEN-02VRS

Validity ch.: P2-3

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.3.88

Comment

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0393, Command value mode


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter is used as control word for positioning.


See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Internal Interpolation"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 187/1033


and Controls

Standard Parameters
Structure

Bit

Designation/function

1/0

mode

Comment

Up to firmware
00: positive direction Only positive direction of rotation is MP*02V22 the
allowed for jogging and positioning (rel./absolute). (See mode for relative
also "F2059 Incorrect command value direction when po positioning was not
taken into account
sitioning")
01: negative direction Only negative direction of rotation
is allowed for jogging and positioning (rel./absolute). (See
also "F2059 Incorrect command value direction when po
sitioning")
10: shortest distance Both positive and negative direc
tions of rotation are allowed for jogging and positioning
(rel./absolute). Note: If, when a positioning mode is acti
vated, the current travel direction or direction of rotation
is opposed to the direction (positive / negative) parame
terized in "S00393, Command value mode", the error
F2059 is not generated. In this case the axis decelerates
with the parameterized deceleration.

command value reference when operating mode activa


ted
0: reference for relative positioning is current actual po
sition
1: reference for relative positioning is content of
"S00430, Effective target position" (residual path pro
cessing!)

Fig.3-67:
Use

Structure of parameter S-0-0393

Parameter Used for "Modulo Axes"


This parameter defines the sense of rotation of a "modulo axis" in the case of
drive-controlled positioning processes.
"Modulo axes" are, for example, circular tables, spindles etc. that, due to their
mechanical structure, do not have any travel range limits and can turn "end
lessly". After one axis revolution the actual position value of the "modulo axis"
is repeated referring to the home point. Due to this mechanical property it is
necessary to determine a mode for positioning processes, because a target
position can be reached in both senses of rotation or over a longer or shorter
distance.
The position data format must be "modulo" ("S00076, Position
data scaling type")!
Residual Path Processing
The following sections describe some special cases regarding residual path
processing:

If residual path processing is active, the drive, after the operating mode
has been activated, travels the residual path without repeated command
value acceptance when S00430 is valid and the axis has been homed.
When the control voltage is switched off, the content of S00430 is
automatically saved and restored when the drive is switched on
again.

188/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

S-0-0393 - Attributes

If drive-internal positioning is aborted by jogging or stopping the position


ing process (S00346, bit 1, 2 = 11), the new positioning command value,
too, is only accepted at the next toggling of bit 0 in S00346. A possibly
existing residual path from the previous positioning process is cleared!
When jogging and stopping the positioning process, the current values of
"S00259, Positioning Velocity" and "S00260, Positioning Acceleration"
or "S00359, Positioning Deceleration" are active.

Residual path processing in the case of repeated activation of the oper


ating mode is only carried out when bit 2 = 1 and the has remained homed
since the last positioning.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

3.3.89

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0/7
0/7
0/7

Default value
2
2
2

S-0-0398, IDN list of configurable data in signal status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains the IDNs of those parameters that can be entered
(configured) in "S00026, Configuration list signal status word".
See also Functional Description "Digital Inputs/Outputs"

Use

S-0-0398 - Attributes

S00026 is a list with a maximum of 16 parameter IDNs, one bit of each is to


be mapped to "S00144, Signal status word". The assignment with regard to
which bit of the respective parameter is mapped to S00144 is made in
"S00328, Assign list signal status word".
Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.3.90

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0399, IDN list of configurable data in the signal control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains the IDNs of those parameters that can be entered
(configured) in S00027, Configuration list signal control word.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 189/1033


and Controls

Standard Parameters
See also Functional Description "Digital Inputs/Outputs"
Use

S00027 is a list with a maximum of 16 parameter IDNs, one bit of each is to


be written via "S00145, Signal control word".
The assignment with regard to which bit of the respective parameter is to be
written in S00027 is made in "S00329, Assign list signal control word".

S-0-0399 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.3.91

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0400, Home switch


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The switch status of the home switch connected to the controller is mapped in
this parameter.
See also Functional Description "Establishing Position Data Reference for Rel
ative Measuring Systems"

Structure

Bit

Designation/function

home switch

Comment

0: not activated (0V)


1: activated (24V)

Fig.3-68:

S-0-0400 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Relevant bits of "S-0-0400, Home switch"

By means of this parameter, the switch status of the home


switch can be assigned to a real-time status bit, for example!

To evaluate the home switch, S00400 must be assigned to


the digital input in "P00300, Digital I/Os, assignment list" pro
vided for this purpose, "P00301, Digital I/Os, bit numbers"
must be set accordingly!

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

190/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.4

S-0-0401 - S-0-1135 Standard Parameters

3.4.1

S-0-0401, Probe 1
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter displays the switch status of the probe 1 input signal.
Prerequisite:

"S-0-0170, Probing cycle procedure command" must have been set and
be executed.

See also Functional Description "Probe Function"


Structure

Bit

Designation/function

probe input signal

Comment

0: 0 V
1: 24 V

Fig.3-69:
S-0-0401 - Attributes

Relevant bits of S-0-0401, Probe 1

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.2

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0402, Probe 2
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

This parameter displays the switch status of the probe 2 input signal.
Prerequisite:

"S-0-0170, Probing cycle procedure command" must have been set and
be executed.

See also Functional Description "Probe Function"


Structure

Bit

Designation/function

probe input signal


0: 0 V
1: 24 V

Fig.3-70:

Relevant bits of S-0-0402, Probe 2

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 191/1033


and Controls

Standard Parameters
S-0-0402 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.3

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0403, Position feedback value status


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter displays the status messages of the actual position values of
the connected encoders. In addition, the position status of the encoder selected
by bit 3 of "S00147, Homing parameter" is displayed in bit 0.
See also Functional Description "Establishing the Position Data Reference"

Structure

Bit

Designation/function

Comment

status of reference encoder pos. feedb. value (encoder 1 or


2) is
0: relative
1: homed

status of motor encoder S-0-0051, Pos. feedback 1 value is


0: relative
1: homed

status of external encoder S-0-0053, Pos. feedback 2 value


is
0: relative
1: homed

Fig.3-71:
Use

Relevant bits of 0-0403, Position feedback value status

When the drive reacts to the commands "S00148, C0600 Drive-controlled


homing procedure command" or "P00012, C0300 Command Set absolute
measuring", bit 0 is reset (value "0") at the start of these commands and set
again (value "1") after successful completion of the respective command reac
tion.
In the case of devices with SERCOS interface, the status message of the actual
position values can be allocated to a real-time status bit and continuously
transmitted to the NC in the drive status
(see parameter "S00305, Allocation of real-time status bit 1").

S-0-0403 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

192/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Input
MPB:
MPD:
MPH:

3.4.4

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0404, Position command value status


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
MPD
MPD

When the position command value is switched to axis reference, the master
sets the position command value status to "homed". This signals to the drive
that the master, as of this point of time, refers all position command values to
the axis zero point. The master simultaneously enters the new position com
mand value in the cyclic data.
See also Functional Descriptions "Establishing Position Data Reference for
Relative Measuring Systems"

Structure

Bit

Designation/function

Comment

status of position command value


0: relative
1: homed (referring to axis zero point)

Fig.3-72:
S-0-0404 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of S-0-0404, Position command value status


Par
--AT + MDT

Input
MPB:
MPD:
MPH:

3.4.5

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0405, Probe 1 enable


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

With this parameter the measurement with probe 1 is enabled (activated).


The enable mode (single measurement or continuous measurement) is deter
mined in "S00169, Probe control parameter".
The probe enable can be carried out by a real-time control bit of the master
control word, for example.
See also Functional Description "Probe Function"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 193/1033


and Controls

Standard Parameters
Structure

Bit

Designation/function

probe enable

Comment

0: no
1: yes

Fig.3-73:
S-0-0405 - Attributes

Relevant bits of S-0-0405, Probe 1 enable

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.6

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0406, Probe 2 enable


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

With this parameter the measurement with probe 2 is enabled (activated).


The enable mode (single measurement or continuous measurement) is deter
mined in "S00169, Probe control parameter". The probe enable can be carried
out by a real-time control bit of the master control word, for example.
See also Functional Description "Probe Function"

Structure

Bit

Designation/function

probe enable

Comment

0: no
1: yes

Fig.3-74:
S-0-0406 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of S-0-0406, Probe 2 enable


Par
--AT + MDT

Input
MPB:
MPD:
MPH:

3.4.7

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0407, Homing enable


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

-
MPH
MPH
MPH

-
-
MPD
MPD

194/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-closed loop

For NC-controlled homing the master-side homing enable is one of the require
ments for starting the search for the reference point on the drive side. Via this
parameter the homing enable can be assigned to a real-time control bit. The
drive only evaluates the homing enable with active command "C4300 NC-con
trolled homing procedure"!
See also Functional Descriptions "Establishing Position Data Reference for
Relative Measuring Systems"

Structure

Bit

Designation/function

Comment

Homing enable set on master side?


0: no
1: yes

Fig.3-75:
S-0-0407 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of S-0-0407, Homing enable


Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.8

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0408, Reference marker pulse registered


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
MPD
MPD

For Non-Distance-Coded Encoders


In this parameter the drive signals the detection of the reference point (refer
ence mark) only in the case of NC-controlled homing, if "S00407, Homing
enable" is present on the master side and a reference mark of the encoder was
detected. At the same time the drive stores the non-homed actual position value
of the detected mark in "S00173, Marker position A" (motor encoder) or
"S00174, Marker position B" (external encoder).
For Distance-Coded Encoders
In this parameter the drive, in the case of NC-controlled homing, signals the
detection of both reference marks of the distance-coded encoder, independent
of "S00407, Homing enable". The drive stores the non-homed actual position
values of the two detected reference marks in "S00173, Marker position
A" (first detected reference mark) and "S00174, Marker position B (second
detected reference mark).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 195/1033


and Controls

Standard Parameters
Structure

Bit

Designation/function

Comment

reference mark(s) detected?


0: no
1: yes

Fig.3-76:

Relevant bits of S-0-0408, Reference marker pulse registered

The parameter is only valid during the active command "C4300 NCcontrolled homing procedure". In the case of drive-controlled hom
ing (C0600), this message is not generated!
S-0-0408 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.9

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0409, Probe 1 positive latched


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter displays the measured value acquisitions that were caused by
positive edges of the probe 1 input signal.
Prerequisite:

The command "S-0-0170, Probing cycle procedure command" must be


active.

Bit 0 must be set in S-0-0169, Probe control parameter.

Probe 1 enable (S-0-0405) must be present.

See also Functional Description "Probe Function"


Use

The respective measured value is stored in "S00130, Probe value 1 positive


edge". If "single measurement" has been set for the enable mode of probe 1 in
"S00169, Probe control parameter", bit 0 of S00409 changes from "0" to "1"
when a measured value is acquired.
If "continuous measurement" has been set, the number of previous measured
value acquisitions since the activation of the command is displayed in S00409
in binary form. Bit 0 toggles in the case of each new measured value acquisition.
The drive clears the count when:

the control unit clears the command "S00170, Probing cycle procedure
command" or

sets "S00405, Probe 1 enable" from "1" to "0".


The measured value acquisitions can be directly recognized by the
control unit by assignment to the real-time status bits!

196/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
S-0-0409 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.10

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0410, Probe 1 negative latched


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter displays the measured value acquisitions that were caused by
negative edges of the probe 1 input signal.
Prerequisite:

The command "S-0-0170, Probing cycle procedure command" must be


active.

Bit 0 must be set in "S-0-0169, Probe control parameter".

Probe 1 enable (S-0-0405) must be present.

See also Functional Description "Probe Function"


Use

The respective measured value is stored in "S00131, Probe value 1 negative


edge". If "single measurement" has been set for the enable mode of probe 1 in
"S00169, Probe control parameter", bit 0 of S00410 changes from "0" to "1"
when a measured value is acquired.
If "continuous measurement" has been set, the number of previous measured
value acquisitions since the activation of the command is displayed in S00410
in binary form. Bit 0 toggles in the case of each new measured value acquisition.
The drive clears the count when:

the control unit clears the command "S00170, Probing cycle procedure
command" or

sets S00405, Probe 1 enable from "1" to "0".


The measured value acquisitions can be directly recognized by the
control unit by assignment to the real-time status bits!

S-0-0410 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 197/1033


and Controls

Standard Parameters

3.4.11

S-0-0411, Probe 2 positive latched


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

This parameter displays the measured value acquisitions that were caused by
positive edges of the probe 2 input signal.
Prerequisite:

The command "S-0-0170, Probing cycle procedure command" must be


active.

Bit 0 must be set in "S-0-0169, Probe control parameter".

Probe 2 enable (S-0-0405) must be present.

See also Functional Description "Probe Function"


Use

The respective measured value is stored in "S00132, Probe value 2 positive


edge".
If "single measurement" has been set for the enable mode of probe 1 in
"S00169, Probe control parameter", bit 0 of S00411 changes from "0" to "1"
when a measured value is acquired.
If "continuous measurement" has been set, the number of previous measured
value acquisitions since the activation of the command is displayed in S00411
in binary form. Bit 0 toggles in the case of each new measured value acquisition.
The drive clears the count when:

the control unit clears the command "S00170, Probing cycle procedure
command" or

sets "S00406, Probe 2 enable" from "1" to "0".


The measured value acquisitions can be directly recognized by the
control unit by assignment to the real-time status bits!

S-0-0411 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.12

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0412, Probe 2 negative latched


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

This parameter displays the measured value acquisitions that were caused by
negative edges of the probe 2 input signal.
Prerequisite:

198/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

The command "S-0-0170, Probing cycle procedure command" must be


active.

Bit 0 must be set in "S-0-0169, Probe control parameter".

Probe 2 enable (S-0-0406) must be present.

See also Functional Description "Probe Function"


Use

The respective measured value is stored in "S00133, Probe value 2 negative


edge".
If "single measurement" has been set for the enable mode of probe 1 in
"S00169, Probe control parameter", bit 0 of S00412 changes from "0" to "1"
when a measured value is acquired.
If "continuous measurement" has been set, the number of previous measured
value acquisitions since the activation of the command is displayed in S00412
in binary form. Bit 0 toggles in the case of each new measured value acquisition.
The drive clears the count when:

the control unit clears the command "S00170, Probing cycle procedure
command" or

sets "S00406, Probe 2 enable" from "1" to "0".


The measured value acquisitions can be directly recognized by the
control unit by assignment to the real-time status bits!

S-0-0412 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.13

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0413, Bit number allocation of real-time control bit 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of the real-time control bits 1 and 2 it is possible to directly write, at


each case, one bit of a parameter in the drive.
See also Functional Description "Real-Time Control Bits and Real-Time Status
Bits"

Use

The IDN of the parameter that contains the bit to be written by the real-time
control bit 1 is entered in "S00301, Allocation of real-time control bit 1", the bit
number is entered in this parameter.
The real time control bits are part of the master control word (S00134) and
are cyclically ("in real time") sent to the drive, i.e. in the clock of the SERCOS
communication one bit of the assigned parameter can be written.

S-0-0413 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
P2->P3
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 199/1033


and Controls

Standard Parameters
Input
MPB:
MPD:
MPH:

3.4.14

min./max.
0 / 15
0 / 15
0 / 15

Default value
0
0
0

S-0-0414, Bit number allocation of real-time control bit 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of the real-time control bits 1 and 2 it is possible to directly write, at


each case, one bit of a parameter in the drive.
See also Functional Description "Real-Time Control Bits and Real-Time Status
Bits"

Use

The IDN of the parameter that contains the bit to be written by the real-time
control bit 2 is entered in "S00303, Allocation of real-time control bit 2", the bit
number is entered in this parameter.
The real time control bits are part of the master control word (S00134) and
are cyclically ("in real time") sent to the drive, i.e. in the clock of the SERCOS
communication one bit of the assigned parameter can be written.

S-0-0414 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.15

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
P2->P3
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 15
0 / 15
0 / 15

Default value
0
0
0

S-0-0415, Bit number allocation of real-time status bit 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of the real-time status bits 1 and 2 it is possible to map a parameter


bit for direct access by a control unit.
Via "S00415, Bit number allocation of real-time status bit 1" it is possible to
select the bit number of the desired bit of a parameter.
The respective IDN of the parameter is entered in parameter
S00305.
See also Functional Description "Real-Time Control Bits and Real-Time Status
Bits"

S-0-0415 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
P2->P3
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

200/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Input
MPB:
MPD:
MPH:

3.4.16

min./max.
0 / 15
0 / 15
0 / 15

Default value
0
0
0

S-0-0416, Bit number allocation of real-time status bit 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of the real-time status bits 1 and 2 it is possible to map a parameter


bit for direct access by a control unit.
Via "S00416, Bit number allocation of real-time status bit 2" it is possible to
select the bit number of the desired bit of a parameter.
The respective IDN of the parameter is entered in parameter
S00307.
See also Functional Description "Real-Time Control Bits and Real-Time Status
Bits"

S-0-0416 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.17

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
P2->P3
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 15
0 / 15
0 / 15

Default value
0
0
0

S-0-0417, Positioning velocity threshold in modulo mode


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By this parameter it is possible to determine a threshold value for the actual


velocity in the case of drive-internal interpolation and drive-controlled position
ing.
If the actual velocity is above the threshold value, the drive moves to a target
position without reversing even if the specification in "S00393, Command val
ue mode" should cause reversing.
Prerequisite: The position data format must be "modulo" ("S00076, Position
data scaling type")!
By entering the value "0" the velocity threshold is deactivated, i.e.
drive always moves to the target position as determined in
S00393!
See also Functional Description "Drive-Internal Interpolation"
See also Functional Description "Drive-Controlled Positioning"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 201/1033


and Controls

Standard Parameters
Record of Modifications

S-0-0417 - Attributes

Version

Attribute

GEN-02VRS

Default value: 0

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.4.18

Comment

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: -min./max.


S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
20,0000
20,0000
20,0000

S-0-0418, Target position window in modulo mode


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter allows determining a symmetrical position range relative to the


current position (target position window). Within the symmetrical position range
it is always possible to move to a target position over the shortest distance even
if only one direction of movement has been determined for positioning in
"S00393, Command value mode".
Prerequisite: The position data format must be "modulo" ("S00076, Position
data scaling type")!
By entering the value "0" the target position window is deactivated,
i.e. drive always moves to the target position as determined in
S00393!
See also Functional Description "Drive-Internal Interpolation"
See also Functional Description "Drive-Controlled Positioning"

S-0-0418 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.4.19

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0419, Positioning command acknowledge


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

202/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

In the "Drive-controlled positioning" mode the parameter is used to acknowl


edge the positioning command value acceptance.
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "Positioning Block Mode"

Use

The acceptance is acknowledged at the time a new value of "S00282, Posi


tioning command value" is accepted in "S00430, Effective target position"
which is the time of acceptance in the internal position command value gener
ator.
If bit 5 = 0 in parameter "S00346, Positioning control word", the acknowledge
only takes place after the drive moved to the previous preset positioning value
and the message "target position reached" (cf. S00437, bit 0) was set.

S-0-0419 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.20

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0420, C0400 Activate parameterization level 1 procedure com


mand
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Starting this command brings the axis to "parameterization level 1". For this
purpose the cyclically running axis functions (encoder evaluation, motor tem
perature monitoring, analog signal processing etc.) are stopped, the reference
of the axis-related position encoders is cleared.
The command cannot be executed when the axis is in "RF".

S-0-0420 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.4.21

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0422, C0200 Exit parameterization level procedure command


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 203/1033


and Controls

Standard Parameters
Function

Starting this command brings the drive from "parameterization level 1" to the
operating mode. The axis-specific parameter conversions and initializations are
carried out.
See also Functional Description "Drive Initialization"

S-0-0422 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.4.22

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0423, IDN-list of invalid op. data for parameterization level


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

By starting the command "C0200 Exit parameterization level procedure com


mand" drive parameters are checked and converted. If an error occurs while
this is done, the respective parameters will appear in this list.
See also Functional Description "Basic Functions of Master Communication"

S-0-0423 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.4.23

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0424, Status parameterization level


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Status parameter displaying the current parameterization level:


0: operating mode
1: parameter mode; parameterization level 1 is active
See also Functional Description "Basic Functions of Master Communication"

S-0-0424 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

204/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Input
MPB:
MPD:
MPH:

3.4.24

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0426, Signal select probe 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In this parameter it is possible to select the parameter the current value of which
is to be stored when switching probe 1.
The IDNs of the parameters that can be selected are listed in "S00428, Probe,
IDN list signal selection". It is only possible to select these parameters!
See also Functional Description "Probe Function"

S-0-0426 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.25

PM+OM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0427, Signal select probe 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

In this parameter it is possible to select the parameter the current value of which
is to be stored when switching probe 2.
The IDNs of the parameters that can be selected are listed in "S00428, Probe,
IDN list signal selection". It is only possible to select these parameters!
See also Functional Description "Probe Function"

S-0-0427 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.26

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0428, Probe, IDN list signal selection


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 205/1033


and Controls

Standard Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
-closed loop

MPH

MPD

This parameter contains a list of IDNs of those parameters the current status
value ("measured value") of which can be recorded upon the switch signal of a
probe. The measured value is stored in a parameter and is therefore available
for the control unit of the machine or installation.
IDN

Signal

S-0-0000

no signal

S-0-0051

actual position value 1 (motor encoder)

S-0-0053

actual position value 2 (external encoder)

P-0-0052

actual position value 3 (measuring encoder)

P-0-0227

cam shaft profile, access angle

P-0-0753

position actual value in actual value cycle

P-0-0775

resulting master axis position

P-0-0776

effective master axis position

P-0-0778

synchronous position command value

Fig.3-77:

IDN list with signal selection

See also Functional Description "Probe Function"


S-0-0428 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.27

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0430, Effective target position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the operating modes

drive-controlled positioning

drive-internal interpolation

positioning block mode

it is possible to read the current target position (absolute position) via this pa
rameter.
See also Functional Description "Drive Controlled Positioning"
Use

In the case of "Drive-controlled positioning", depending on the modalities de


fined in "S00346, Positioning control word", the value in S00430, after an
edge change of the positioning command value acceptance bit, corresponds
to

206/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

the value of "S00282, Positioning command value", if this value had been
defined as the absolute target position.

the sum of the previous value of S00430 and S00282, if the new target
position is referring to the previous target position (S00346, bit 4 = 0).

the sum of the actual position value S00051 and S00282 at the time of
toggling, if the target position is referring to the current actual position val
ue (S00346, bit 4 = 1).
If residual path processing is possible when activating the "Drivecontrolled positioning" operating mode again, e.g. after the control
voltage is switched on again in the case of axes with absolute
measuring system, the effective target position still is contained in
S00430 ("non-volatile parameter")!

S-0-0430 - Attributes

Function: Par
Editability:
Memory: RETAIN_KUNDEValidity ch.:

nein
--

Unit:

--

S-0-0076

Cycl. tra.: AT

Extr. val. ch.:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

3.4.28

Data length:
Format:

min./max.
--- / ----- / ----- / ---

Default value
0,0000
0,0000
0,0000

S-0-0437, Positioning status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter contains status bits of the positioning generator that are gen
erated in the operating modes with internal interpolator (target position gener
ator). Those operating modes are, for example, positioning block mode, driveinternal interpolation and drive-controlled positioning.
If the condition for the message has been fulfilled, the respective bit
changes from 0 to 1!
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Internal Interpolation"

Structure

Bit

Function

target position reached (S-0-0342) S-0-0430 = P-0-0434


Note: Is only generated with active operating mode!

(| S-0-0258, Target position S-0-0386, Active pos. feedb. val. | <


S-0-0057), for operating mode drive-internal interpolation
Is also generated with inactive operating mode!

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 207/1033


and Controls

Standard Parameters
Bit

Function

IN_TARGET POSITION (S-0-0338) =(|S-0-0430 - S-0-0386, Active


pos. feedb. val. | < S-0-0057) &&IN_POSITION (S-0-0336) &&Nact
= 0 (S-0-0331)
Is also generated with inactive operating mode!

S-0-0437 - Attributes

interpolator halted (S00343)

constant interpolation velocity

drive accelerates

drive decelerates

7 11

(reserved)

12

jog mode active (see S00346, bits 1 and 2)

13

positioning velocity > nlimit (S-0-0315)

14

target position outside of travel range (S0-0323)

15

(reserved)

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.29

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0446, Ramp reference velocity for acceleration data


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the case of the scaling type "ramp time" for the acceleration data "S00160,
Acceleration data scaling type", the value of this parameter and the ramp ref
erence time are used as definition values for the reference velocity ramp. The
value of S00446 is scaled according to the settings for the scaling of the ve
locity data "S00044, Velocity data scaling type".
See also Functional Description "Scaling of Physical Data"

S-0-0446 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: +
Default value
3000,0000
3000,0000
3000,0000

208/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.4.30

S-0-0447, Command Set absolute measuring


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

-
-
MPH
MPH

-
-
MPD
MPD

When commissioning an absolute measuring system, its actual position value


at first displays an undefined value (possibly the value of P00019), if the com
mand "set absolute measuring" has not yet been executed.
See also Functional Description "Establishing the Position Data Reference "

Use

By means of the command "set absolute measuring", the actual position value
can be set to a desired new value at any position (new reference system). After
the end of the command "set absolute measuring" the actual position value of
the respective encoder refers to the new reference system.
The reference bit of the encoder in parameter "S00403, Position feedback
value status" then is "1".
The command only acts on the connected absolute measuring sys
tem that has been selected in "S00448, Control word for setting
absolute measuring". It is only possible to select one measuring
system at a time.
By means of a backup of all required data of the absolute measuring system in
the feedback data memory or parameter data memory, all information will be
available every time the machine is switched off and on again. The actual po
sition value retains its reference to the machine zero point.

S-0-0447 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

3.4.31

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0448, Control word for setting absolute measuring


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

-
-
MPH
MPH

-
-
MPD
MPD

The encoder for which the command "set absolute measuring" is to be executed
is selected via the control word for setting absolute measuring.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 209/1033


and Controls

Standard Parameters
Structure

Bit

Designation/function

Comment

set absolute measuring for motor encoder


0: no
1: yes

set absolute measuring for external (optional) encoder


0: no
1: yes

Is "S-0-0447, C6000 Command Set absolute measuring" MPx04: Value "0"


possible in drive enable ("AF")?
cannot be
changed!
0: no
1: yes

Fig.3-78:
S-0-0448 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of S-0-0448


Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.32

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
P3->P4
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0/3
0/3
0/3

Default value
0
0
0

S-0-0450, Data container A: command value 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

In this parameter the master transmits the data which in the drive is written to
the target parameter addressed via "S00368, Data container A: addressing"
from "S00490, Data container A: configuration list command value 2".
See also Functional Description "Multiplex Channel"

Use

S-0-0450 - Attributes

If a 2-byte target parameter is addressed with 2-byte data, only the low word of
"S00450, Data container A: command value 2" is used. In order to use the
data container, the parameter S00450 has to be entered in the list of cyclic
data S00024 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

210/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.4.33

S-0-0451, Data container A: command value 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

In this parameter the master transmits the data which in the drive is written to
the target parameter addressed via "S00368, Data container A: addressing"
from "S00491, Data container A: configuration list command value 3".
See also Functional Description "Multiplex Channel"

Use

S-0-0451 - Attributes

If a 2-byte target parameter is addressed with 2-byte data, only the low word of
"S00451, Data container A: command value 3" is used. In order to use the
data container, the parameter S00451 has to be entered in the list of cyclic
data S00024 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

3.4.34

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0452, Data container A: command value 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

In this parameter the master transmits the data which in the drive is written to
the target parameter addressed via "S00368, Data container A: addressing"
from "S00492, Data container A: configuration list command value 4".
See also Functional Description "Multiplex Channel"

Use

S-0-0452 - Attributes

If a 2- byte target parameter is addressed with 2-byte data, only the low word
of "S00452, Data container A: command value 4" is used. In order to use the
data container, the parameter S00452 has to be entered in the list of cyclic
data S00024 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 211/1033


and Controls

Standard Parameters

3.4.35

S-0-0453, Data container A: command value 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

In this parameter the master transmits the data which in the drive is written to
the target parameter addressed via "S00368, Data container A: addressing"
from "S00493, Data container A: configuration list command value 5".
See also Functional Description "Multiplex Channel"

Use

S-0-0453 - Attributes

If a 2-byte target parameter is addressed with 2-byte data, only the low word of
"S00453, Data container A: command value 5" is used. In order to use the
data container, the parameter S00453 has to be entered in the list of cyclic
data S00024 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

3.4.36

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0454, Data container A: command value 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

In this parameter the master transmits the data which in the drive is written to
the target parameter addressed via "S00368, Data container A: addressing"
from "S00494, Data container A: configuration list command value 6".
See also Functional Description "Multiplex Channel"

Use

S-0-0454 - Attributes

If a 2-byte target parameter is addressed with 2-byte data, only the low word of
"S00454, Data container A: command value 6" is used. In order to use the
data container, the parameter S00454 has to be entered in the list of cyclic
data S00024 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

212/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.4.37

S-0-0455, Data container A: command value 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

In this parameter the master transmits the data which in the drive is written to
the target parameter addressed via "S00368, Data container A: addressing"
from "S00495, Data container A: configuration list command value 7".
See also Functional Description "Multiplex Channel"

Use

S-0-0455 - Attributes

If a 2-byte target parameter is addressed with 2-byte data, only the low word of
"S00455, Data container A: command value 7" is used. In order to use the
data container, the parameter S00455 has to be entered in the list of cyclic
data S00024 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

3.4.38

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0456, Data container A: command value 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

In this parameter the master transmits the data which in the drive is written to
the target parameter addressed via "S00368, Data container A: addressing"
from "S00496, Data container A: configuration list command value 8".
See also Functional Description "Multiplex Channel"

Use

S-0-0456 - Attributes

If a 2-byte target parameter is addressed with 2-byte data, only the low word of
"S00456, Data container A: command value 8" is used. In order to use the
data container, the parameter S00456 has to be entered in the list of cyclic
data S00024 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 213/1033


and Controls

Standard Parameters

3.4.39

S-0-0460, Position switch point 1 "Off"


Allocation

Function

S-0-0460 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter determines the switch-off position for a "virtual" position-de


pendent switch (cf. adjusting the switch-off position by mechanical switch
cams). If the actual position value is greater than the switch-off position, the
respective bit of "S00059, Position switch flag parameter" is "0". Otherwise it
is "1" if the actual position value hasn't fallen below the value of "S00060,
Position switch point 1 "On"".
Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

3.4.40

MPB
MPB
MPB
MPB
-closed loop

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

S-0-0480, Data container A: feedback value 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

To parameter S00480 the drive copies the data of the source parameter ad
dressed via "S00368, Data container A: addressing" from "S00500, Data
container A: configuration list feedback value2".
If a 2-byte source parameter is addressed with 2-byte data, only the low word
is copied to "S00480, Data container A: feedback value 2". In order to use the
data container, the parameter S00480 has to be entered in the list of cyclic
data S00016 in phase 2.
See also Functional Description "Multiplex Channel"

S-0-0480 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.41

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0481, Data container A: feedback value 3


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

-
MPB
MPB

-
MPH
MPH

-
-
MPD

214/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
-"open loop", "closed loop"

MPD

To parameter S00481 the drive copies the data of the source parameter ad
dressed via "S00368, Data container A: addressing" from "S00501, Data
container A: configuration list feedback value3".
See also Functional Description "Multiplex Channel"

Use

S-0-0481 - Attributes

If a 2-byte source parameter is addressed with 2-byte data, only the low word
is copied to "S00481, Data container A: feedback value 3". In order to use the
data container, the parameter S00481 has to be entered in the list of cyclic
data S00016 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.42

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0482, Data container A: feedback value 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

To parameter S00482 the drive copies the data of the source parameter ad
dressed via "S00368, Data container A: addressing" from "S00502, Data
container A: configuration list feedback value 4".
See also Functional Description "Multiplex Channel"

Use

S-0-0482 - Attributes

If a 2-byte source parameter is addressed with 2-byte data, only the low word
is copied to "S00482, Data container A: feedback value 4". In order to use the
data container, the parameter S00482 has to be entered in the list of cyclic
data S00016 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.43

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0483, Data container A: feedback value 5


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 215/1033


and Controls

Standard Parameters
Function

To parameter S00483 the drive copies the data of the source parameter ad
dressed via S00368, Data container A: addressing from S00503, Data
container A: configuration list feedback value 5.
See also Functional Description "Multiplex Channel"

Use

S-0-0483 - Attributes

If a 2-byte source parameter is addressed with 2-byte data, only the low word
is copied to S00483, Data container A: feedback value 5. In order to use the
data container, the parameter S00483 has to be entered in the list of cyclic
data S00016 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.44

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0484, Data container A: feedback value 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

To parameter S00484 the drive copies the data of the source parameter ad
dressed via "S00368, Data container A: addressing" from "S00504, Data
container A: configuration list feedback value 6".
See also Functional Description "Multiplex Channel"

Use

S-0-0484 - Attributes

If a 2-byte source parameter is addressed with 2-byte data, only the low word
is copied to "S00484, Data container A: feedback value 6". In order to use the
data container, the parameter S00484 has to be entered in the list of cyclic
data S00016 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.45

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0485, Data container A: feedback value 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

To parameter S00485 the drive copies the data of the source parameter ad
dressed via "S00368, Data container A: addressing" from "S00505, Data
container A: configuration list feedback value 7".

216/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
See also Functional Description "Multiplex Channel"
Use

S-0-0485 - Attributes

If a 2-byte source parameter is addressed with 2-byte data, only the low word
is copied to "S00485, Data container A: feedback value 7". In order to use the
data container, the parameter S00485 has to be entered in the list of cyclic
data S00016 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.46

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0486, Data container A: feedback value 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

To parameter S00486 the drive copies the data of the source parameter ad
dressed via "S00368, Data container A: addressing" from "S00506, Data
container A: configuration list feedback value 8".
See also Functional Description "Multiplex Channel"

Use

S-0-0486 - Attributes

If a 2-byte source parameter is addressed with 2-byte data, only the low word
is copied to "S00486, Data container A: feedback value 8". In order to use the
data container, the parameter S00486 has to be entered in the list of cyclic
data S00016 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.47

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0490, Data container A: configuration list command value 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00490 which are transmitted in


"S00450, Data container A: command value 2" depending on the index in
"S00368, Data container A: addressing", low byte. Write accessing S-0-0490
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 217/1033


and Controls

Standard Parameters
Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0490 are contained
in the lists "S00188, List of configurable data in the MDT". If this is not the
case, the command error "C0151 IDN for command value data container not
allowed" is generated.
A maximum of 32 IDNs can be configured in S-0-0490.

S-0-0490 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.48

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0491, Data container A: configuration list command value 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00491 which are transmitted in


"S00451, Data container A: command value 3" depending on the index in
"S00368, Data container A: addressing", low byte.
See also Functional Description "Multiplex Channel"

Use

Write accessing S-0-0491 is only possible in communication phase 2. In the


command "S-0-0127, C0100 Communication phase 3 transition check" a check
is run to find out whether the IDNs contained in S00491 are contained in the
lists "S00188, List of configurable data in the MDT". If this is not the case, the
command error "C0151 IDN for command value data container not allowed" is
generated.
A maximum of 32 IDNs can be configured in S00491.

S-0-0491 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.49

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0492, Data container A: configuration list command value 4


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

-
MPH
MPH
MPH

-
-
MPD
MPD

218/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

Those IDNs are entered in parameter S00492 which are transmitted in


"S00452, Data container A: command value 4" depending on the index in
"S00368, Data container A: addressing", low byte. Write accessing S-0-0492
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S00492 are contained
in the lists "S00188, List of configurable data in the MDT".
If this is not the case, the command error "C0151 IDN for command value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S-0-0492.

S-0-0492 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.50

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0493, Data container A: configuration list command value 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00493 which are transmitted in


"S00453, Data container A: command value 5" depending on the index in
"S00368, Data container A: addressing", low byte. Write accessing S-0-0493
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0493 are contained
in the lists "S00188, List of configurable data in the MDT".
If this is not the case, the command error "C0151 IDN for command value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S00493.

S-0-0493 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 219/1033


and Controls

Standard Parameters
MPD:
MPH:

3.4.51

--- / ----- / ---

-----

S-0-0494, Data container A: configuration list command value 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00494 which are transmitted in


"S00454, Data container A: command value 6" depending on the index in
"S00368, Data container A: addressing", low byte. Write accessing S-0-0494
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S00494 are contained
in the lists "S00188, List of configurable data in the MDT".
If this is not the case, the command error "C0151 IDN for command value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S-0-0494.

S-0-0494 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.52

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0495, Data container A: configuration list command value 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00495 which are transmitted in


"S00455, Data container A: command value 7" depending on the index in
"S00368, Data container A: addressing", low byte. Write accessing S-0-0495
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0495 are contained
in the lists "S00188, List of configurable data in the MDT".
If this is not the case, the command error "C0151 IDN for command value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S00495.

220/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
S-0-0495 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.53

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0496, Data container A: configuration list command value 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00496 which are transmitted in


"S00456, Data container A: command value 8" depending on the index in
"S00368, Data container A: addressing", low byte. Write accessing S-0-0496
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0496 are contained
in the lists "S00188, List of configurable data in the MDT". If this is not the
case, the command error "C0151 IDN for command value data container not
allowed" is generated.
A maximum of 32 IDNs can be configured in S00496.

S-0-0496 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.54

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0500, Data container A: configuration list feedback value 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00500 which are transmitted in


"S00480, Data container A: feedback value 2" depending on the index in
"S00368, Data container A: addressing", high byte. Write accessing S-0-0500
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 221/1033


and Controls

Standard Parameters
Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0500 are contained
in the lists "S00187, List of configurable data in the AT".
If this is not the case, the command error "C0152 , IDN for actual value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S00500.

S-0-0500 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.55

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0501, Data container A: configuration list feedback value 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00501 which are transmitted in


"S00481, Data container A: feedback value 3" depending on the index in
"S00368, Data container A: addressing", high byte. Write accessing S-0-0501
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0501 are contained
in the lists "S00187, List of configurable data in the AT".
If this is not the case, the command error "C0152, IDN for actual value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S00501.

S-0-0501 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.56

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0502, Data container A: configuration list feedback value 4


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

-
MPH
MPH
MPH

-
-
MPD
MPD

222/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

Those IDNs are entered in parameter S00502 which are transmitted in


"S00482, Data container A: feedback value 4" depending on the index in
"S00368, Data container A: addressing", high byte. Write accessing S-0-0502
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0502 are contained
in the lists "S00187, List of configurable data in the AT".
If this is not the case, the command error "C0152, IDN for actual value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S00502.

S-0-0502 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.57

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0503, Data container A: configuration list feedback value 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00503 which are transmitted in


"S00483, Data container A: feedback value 5" depending on the index in
"S00368, Data container A: addressing", high byte. Write accessing S-0-0503
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0503 are contained
in the lists "S00187, List of configurable data in the AT".
If this is not the case, the command error "C0152, IDN for actual value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S00503.

S-0-0503 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 223/1033


and Controls

Standard Parameters
MPD:
MPH:

3.4.58

--- / ----- / ---

-----

S-0-0504, Data container A: configuration list feedback value 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00504 which are transmitted in


"S00484, Data container A: feedback value 6" depending on the index in
"S00368, Data container A: addressing", high byte. Write accessing S-0-0504
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S00504 are contained
in the lists "S00187, List of configurable data in the AT".
If this is not the case, the command error "C0152, IDN for actual value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S00504.

S-0-0504 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.59

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0505, Data container A: configuration list feedback value 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00505 which are transmitted in


"S00485, Data container A: feedback value 7" depending on the index in
"S00368, Data container A: addressing", high byte. Write accessing S-0-0505
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0505 are contained
in the lists "S00187, List of configurable data in the AT".
If this is not the case, the command error "C0152 IDN for actual value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S00505.

224/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
S-0-0505 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.60

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0506, Data container A: configuration list feedback value 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Those IDNs are entered in parameter S00506 which are transmitted in


"S00486, Data container A: feedback value 8" depending on the index in
"S00368, Data container A: addressing", high byte. Write accessing S-0-0506
is only possible in communication phase 2.
See also Functional Description "Multiplex Channel"

Use

In the command "S-0-0127, C0100 Communication phase 3 transition check"


a check is run to find out whether the IDNs contained in S-0-0506 are contained
in the lists "S00187, List of configurable data in the AT".
If this is not the case, the command error "C0152 IDN for actual value data
container not allowed" is generated.
A maximum of 32 IDNs can be configured in S00506.

S-0-0506 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.61

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0520, Control word of axis controller


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

The control word of axis controller takes effect in all position-controlled oper
ating modes and allows influencing the axis control.
See also Functional Description "Operating Modes"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 225/1033


and Controls

Standard Parameters
Structure

Bit

Designation/function

Comment

selection position control encoder or activation "hybrid ac


tual position value"
0: motor encoder
1: external encoder, when "S-0-0521, Status word of posi
tion loop" bit 1 ="0"
1: "hybrid actual position value" (motor and ext. encoder),
when "S-0-0521, Status word of position loop" bit 1 ="1"

preselection of position control encoder


0: position control via the encoder acknowledged in
S00521, bit 0
1: position control with motor encoder and external encoder
("hybrid actual position value")

kind of position control


0: with lag error
1: lagless

Fig.3-79:
Use

Relevant bits of "S-0-0520, Control word of axis controller"

Preselection of position control encoder


"Preselection of position control encoder" (bit 1) determines whether the actual
position value in position-controlled operating modes comes from a single en
coder (motor encoder or external encoder) or whether a "hybrid actual position
value" (from motor encoder and external encoder) is to take effect.
The preselection made is displayed in "S00521, Status word of position loop",
if the external encoder has been configured with use as position control encoder
in "P00185, Control word of encoder 2 (optional encoder)". If "measuring
wheel encoder" has been configured, measuring wheel encoder mode is al
ways active (in this case, it is impossible to make a preselection via bit 1).
Selection of actual position value active for control
In bit 0, select the actual position value active for control. With the value "1",
either the actual position value of the external encoder or a "hybrid actual po
sition value" takes effect. This depends on bit 1 of S-0-0521. If "measuring
wheel encoder" was configured in P00185 as use of the external encoder,
bit 1 = "1" is set in S00521 and "measuring wheel mode" takes effect (see
Functional Description chapter "Measuring Wheel Mode").

S-0-0520 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

3.4.62

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
4
4
4

S-0-0521, Status word of position loop


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
MPB
MPB

-
-
MPH
MPH

-
-
MPD
MPD

226/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

The status word of position loop displays current information relevant to position
control of the active operating mode.
See also Functional Description "Operating Modes"

Structure

Bit

Designation/function

Comment

acknowledgment position control encoder


0: motor encoder
1: if bit 1 = "0": external encoder orif bit 1 = "1":
motor encoder and external encoder ("hybrid
actual position value")

display of position control encoder

The value is "1" if:- "measuring


0: position control via encoder displayed in bit 0 wheel encoder" was selected
in P00185 or- bit 1 = "1" was
1: position control with motor encoder and ex set in S00520
ternal encoder ("hybrid actual position value")

display of kind of position control


0: with lag error
1: lagless

Fig.3-80:
Use

Relevant bits of S-0-0521, Status word of position loop

Display of encoder active for control


Bit 0 displays the encoder active for control in position-controlled operating
modes. This bit acknowledges the selection made in bit 0 of "S00520, Control
word of axis controller". With value "1", either the actual position value of the
external encoder takes effect or a "hybrid actual position value" from motor
encoder and external encoder, depending on bit 1:

S-0-0521 - Attributes

If "measuring wheel encoder" was configured in P00185 as use of the


external encoder, bit 1 = "1" is set and "measuring wheel mode with hybrid
actual position value" takes effect (see Functional Description "Measuring
Wheel Mode").

If "position control encoder" was configured in P00185 as use of the ex


ternal encoder, this does not have any influence on bit 1. Bit 1 becomes
"1", if bit 1 "hybrid actual position value" was preset in S00520. Bit 1 is
"0", if bit 1 was not set in S00520.

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.63

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0531, Checksum of backup operation data


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
MPB

-
-
-
MPH

-
-
-
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 227/1033


and Controls

Standard Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

When this parameter is read, the checksum of the parameters listed in


"S-0-0192, IDN-list of backup operation data" is generated via the active nonvolatile memory.
In the list of parameter S-0-0192, the IDNs of those parameters are
stored the values of which are axis-specific and for regular opera
tion have to be loaded to the drive of the respective axis.
When an installation has been completely set up, the checksum for each drive
can be read via parameter S-0-0531. These values can be stored by a control
unit. It is thereby possible to compare the stored checksum to the new check
sum which was read and find out whether operation-relevant data have
changed.

S-0-0531 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.4.64

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0822, Torque/force ramp


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

With the torque/force ramp time (S00823) the torque/force ramp defines an
increase for the torque/force command value (S00080) in the operating mode
"torque/force control".
Parameter S00822 replaces the previously available filtering by
means of the PT1 filter (cf. P00176)!
See also Parameter Description "S-0-0822, Torque/force ramp"
See also Parameter Description "S-0-0824, Message torque/force command
value reached"
See also Functional Description "Torque/Force Control"

Use

The figure below illustrates the operating principle and function of S00822:

228/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

Fig.3-81:

Operating principle of S-0-0822 and S-0-0823

The filter effect is thereby achieved by determining a maximum al


lowed torque increase (dM/dt)!
Parameterization
The following has to be observed for parameterization:

S-0-0822 - Attributes

The two values (S-0-0822, S-0-0823) determine the maximum change in


the command value per master communication clock. Greater input cau
ses the delay of the internal force command value compared to the input
value.

The value contained in S00822 defines the torque/force difference which


can be reached within the ramp time.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0086

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

3.4.65

Data length:
Format:

2Byte
DEC_OV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: +

min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
0,0
0,0
0,0

S-0-0823, Torque/force ramp time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

The torque/force ramp time (S00823) is the reference time for the torque/force
ramp. In the operating mode torque/force control, the parameter S00823, to
gether with the torque/force ramp (S00822), defines an increase for the
torque/force command value (S00080).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 229/1033


and Controls

Standard Parameters
See also Parameter Description "S-0-0822, Torque/force ramp"
See also Parameter Description "S-0-0824, Message torque/force command
value reached"
See also Functional Description "Operating Modes - Torque/Force Control"
Use

The figure below illustrates the operating principle and function of S00823:

Fig.3-82:

Operating principle of S-0-0822 and S-0-0823

The filter effect is thereby achieved by determining a maximum al


lowed torque increase (dM/dt)!
The following has to be observed for parameterization:

S-0-0823 - Attributes

The two values (S-0-0822, S-0-0823) determine the maximum change in


the command value per master communication clock.

The input of the ramp time can take place in steps of 0.1ms.

Greater input causes the delay of the internal force command value com
pared to the input value.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
MDT

Input
MPB:
MPD:
MPH:

3.4.66

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
0,0 / 6553,5
0,0 / 6553,5
0,0 / 6553,5

Default value
0,0
0,0
0,0

S-0-0824, Message torque/force command value reached


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

230/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Function

In the operating mode "torque/force control", the message "S00824, Message


torque/force command value reached" indicates that the internal "S00080,
Torque/force command value" has reached the preset value.
See also Functional Description "Operating Modes"

Structure

Bit

Designation/function

Comment

message torque/force cmd value reached S-0-0080 ==


P-0-0049

as of MP*05VRS

S-0-0080 + S-0-0081 S-0-0084 < S-0-0826


0: command value is ramped
1: command value reached

See also Parameter Description: "S-0-0822, Torque/force ramp"


See also Parameter Description: "S-0-0823, Torque/force ramp time"
S-0-0824 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.67

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-0826, Torque/force window


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

Function

In this parameter the torque/force window is entered. The window is related to


the absolute value of the torque/force command (S00080).

Use

When the actual torque/force value (S-0-0084) is within this window around the
command value (S-0-0080 + S-0-0081), the message "torque/force command
value reached" (S-0-0824) is output.
See also Parameter Description "S-0-0824, Message torque/force command
value reached"

S-0-0826 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0086

Cycl. tra.: -Input


MPB:
MPD:
MPH:

3.4.68

Extr. val. ch.:

Data length:
Format:

2Byte
DEC_OV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: +

Comb. check: -min./max.


S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
0,0
0,0
0,0

S-0-1001, SERCOS III: NC cycle time (TNcyc)


Allocation

Contained in 02VRS:
Contained in 03VRS:

-
-

-
-

-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 231/1033


and Controls

Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The "NC cycle time (TNcyc)" indicates the cyclic time intervals in which the NC
provides new cyclic command values. The "NC cycle time" has to be transmit
ted from master to slave in phase 2 and be taken into account in the slave from
communication phase 3 on. The "NC cycle time" has to be an integral multiple
of the "SERCOS cycle time (TScyc)" (S00002).
TNcyc = TScyc * j [j = 1, 2, 3, 4 ....]
See also Functional Description "SERCOS III"

S-0-1001 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

3.4.69

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
250,000 / 65000,000
250,000 / 65000,000
250,000 / 65000,000

Default value
2000,000
2000,000
2000,000

S-0-1002, SERCOS III: SERCOS cycle time (TScyc)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The communication cycle time of the SERCOS III interface indicates the time
intervals in which the cyclic data, i.e. the process data (MDT and AT), are
transmitted.
See also Functional Description "SERCOS III"

Use

Observe the following aspects for parameter setting:

Input is 250 us, 500 us, 1 ms, 2 ms, to 65 ms in steps of 1 ms.


For a SERCOS III slave within a CCD group, the minimum cycle
time is 500 us!

S-0-1002 - Attributes

The "SERCOS cycle time (TScyc)" has to be transmitted from master to


slave in communication phase 2 and be activated in both from communi
cation phase 3 on.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

min./max.
250,000 / 65000,000
250,000 / 65000,000
250,000 / 65000,000

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: -Default value
2000,000
2000,000
2000,000

232/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.4.70

S-0-1003, SERCOS III: allowed number telegram failures


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

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.
See also Functional Description "SERCOS III"
The value is currently fixed to 1, which means that the correspond
ing F4 error is triggered after two MDT or AT failures which occurred
directly one after the other (identical to SERCOS II).

S-0-1003 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.71

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
2
2
1

S-0-1005, SERCOS III: Minimum feedback acquisition time (T5)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Time required in the drive between the start of feedback acquisition and the
start of AT0.
See also Functional Description "SERCOS III"
In phase 2 the master reads this value to set the "feedback acquis
ition starting time (T4)" (S01007) accordingly for all drives.

Use
S-0-1005 - Attributes

The drive has to set this value such that the current actual values are trans
mitted to the control unit in the next drive telegram (AT).
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
-us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 233/1033


and Controls

Standard Parameters

3.4.72

S-0-1006, SERCOS III: AT transmission starting time (T1)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The AT transmission starting time determines when the master, related to the
master data telegram, sends its drive telegram in communication phases 3 and
4.
See also Functional Description "SERCOS III"

S-0-1006 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.73

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

min./max.
100,000 / 32000,000
100,000 / 32000,000
100,000 / 32000,000

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: -Default value
100,000
100,000
100,000

S-0-1007, SERCOS III: Feedback acquisition starting time (T4)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Feedback acquisition starting time set by the master, after the end of the master
synchronization telegram. The master can therefore specify the same actual
value acquisition starting time for all drives that operate in a co-ordinate mode.
This guarantees the synchronization of actual value acquisition for the drives
involved.
From communication phase 3 on the drive activates the feedback
acquisition starting time.
See also Functional Description "SERCOS III"

Use

S-0-1007 - Attributes

The master must set the feedback acquisition starting time smaller than or equal
to the difference of the "SERCOS cycle time" (S01002) and the "minimum
feedback acquisition time" (S-0-1005) which was queried.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

min./max.
11,000 / 65000,000
11,000 / 65000,000
11,000 / 65000,000

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: -Default value
500,000
500,000
500,000

234/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

3.4.74

S-0-1008, SERCOS III: Command value valid time (T3)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The command value valid time indicates the time after which the drive may
access the new command values after the end of the master synchronization
telegram. The master can therefore set the same command value valid time for
all drives that operate in a co-ordinate mode.
The drive activates the command value valid time from communi
cation phase 3 on.
See also Functional Description "SERCOS III"

S-0-1008 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

3.4.75

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
+
--

min./max.
0,000 / 65000,000
0,000 / 65000,000
0,000 / 65000,000

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: -Default value
900,000
900,000
900,000

S-0-1009, SERCOS III: RTC offset in MDT


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The RTC offset in the master data telegram indicates at which position and in
which master data telegram the cyclic command values for the drive are trans
mitted.
This parameter is only active when command values have been
configured (see also Parameter Description "S01015, SERCOSIII: ring delay").
See also Functional Description "SERCOS III"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 235/1033


and Controls

Standard Parameters
Structure

Bit

Designation/function

11-0

MDT RTC offset

Comment

in bytes
13/12

MDT telegram number


00: MDT0
01: MDT1
10: MDT2
11: MDT3

Fig.3-83:
S-0-1009 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

S-0-1009, SERCOS-III: RTC offset in MDT


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.76

P2
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

S-0-1010, SERCOS III: MDT lengths


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This list parameter contains the MDT lengths of all four possible master data
telegrams.
The lengths are required for initializing the SERCOS 3 communi
cation.
See also Functional Description "SERCOS 3"

Structure

The list parameter has the following structure:

Fig.3-84:
Use

"S-0-1010, SERCOS-3": MDT lengths

The following has to be observed for parameterization:

Always preset all four lengths.

Identify non-existing MDT telegrams with length = 0.

236/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
S-0-1010 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Byte
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.77

P2
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-1011, SERCOS III: RTC offset in AT


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The RTC offset in the drive telegram indicates at which position and in which
drive telegram the cyclic actual values for the drive are transmitted. This pa
rameter is only active when actual values have been configured (see also
Parameter Description "S01015, SERCOS-III: ring delay").
See also Functional Description "SERCOS III"

Structure

Bit

Designation/function

110

AT RTC offset

Comment

in bytes
13/12

AT telegram number
00: AT0
01: AT1
10: AT2
11: AT3

Fig.3-85:
S-0-1011 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

S-0-1011, SERCOS-III: RTC offset in AT


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.78

P2
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

S-0-1012, SERCOS III: AT lengths


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This list parameter contains the AT lengths of all four possible drive telegrams.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 237/1033


and Controls

Standard Parameters
The lengths are required for initializing the SERCOS III communi
cation.
See also Functional Description "SERCOS III"
Structure

The list parameter has the following structure:

Fig.3-86:
Use

S-0-1012 - Attributes

S-0-1012, SERCOS-3: AT lengths

The following has to be observed for parameterization:

Always preset all four lengths.

Identify non-existing AT telegrams with length = 0.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Byte
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.79

P2
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-1013, SERCOS III: SVC offset in MDT


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The SVC offset in the master data telegram indicates at which position and in
which master data telegram the service channel for the drive is transmitted.
See also Functional Description "SERCOS III"

Structure

Bit

Designation/function

11-0

MDT SVC offset


in bytes

13/12

MDT telegram number


00: MDT0
01: MDT1

Fig.3-87:

S-0-1013, SERCOS-III: SVC offset in MDT

Comment

238/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
S-0-1013 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.80

P2
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
6
6
6

S-0-1014, SERCOS III: SVC offset in AT


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The SVC offset in the drive telegram indicates at which position and in which
drive telegram the service channel for the drive is transmitted.
See also Functional Description "SERCOS III"

Structure

Bit

Designation/function

11-0

AT SVC offset

Comment

in bytes
13/12

AT telegram number
00: AT0
01: AT1

Fig.3-88:
S-0-1014 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

S-0-1014, SERCOS-III: SVC offset in AT


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.81

P2
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
6
6
6

S-0-1015, SERCOS III: ring delay


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

In phase 2 the master determines the ring delay time (S01015) and transmits
it to the slaves. With this delay, the slaves can determine their sync times for
the P and Schannels by means of their delay counters.
See also Functional Description "SERCOS III"

S-0-1015 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

P2
--

Data length:
Format:

4Byte
DEC_OV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 239/1033


and Controls

Standard Parameters
Unit:
us
Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

3.4.82

min./max.
--- / ----- / ----- / ---

Decim. pl.:
3
set switchable: -Default value
20,000
20,000
20,000

S-0-1016, SERCOS III: slave delay (SYNCCNT-P, SYNCCNT-S)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

After the master transmitted the entire ring delay (S01015) to the slaves, the
slaves can determine the SYNCCNT-P/S. With these two delay times (P in the
first and S in the second element), the master determines the physical order of
the slaves in the ring or line.
See also Functional Description "SERCOS III"

S-0-1016 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.83

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: -Default value
-------

S-0-1017, SERCOS III: IP channel transmission starting time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This parameter is used to define the time window for the IP channel for
SERCOS III.

Fig.3-89:

S-0-1017, SERCOS-III: IP channel transmission starting time

See also Functional Description "SERCOS III"


Structure

The structure of the list parameter S01017 is as follows:

first element: start (T6) of the IP channel

240/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters

Use

S-0-1017 - Attributes

second element: end (T7) of the IP channel

The following has to be observed for parameterization:

t7-t6 125s, minimum length of IP channel

t6=t7=0 --> IP channel switched off

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

3.4.84

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: -Default value
-------

S-0-1019, Master communication: MAC address


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
MPH
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Parameter S01019 contains the MAC address of the SERCOS III or ProfiNet
slave which is required within the scope of Ethernet communication. The MAC
address (Media Access Control) is used for unequivocal identification of the
Ethernet master communication in the network.
See also Functional Description "SERCOS III"

Use

The MAC address has been permanently assigned to the hardware


and cannot be modified!
S-0-1019 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

3.4.85

P2
P2->P3
---

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

S-0-1020, Master communication: IP address


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
MPH
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Parameter S-0-1020 contains the IP address which is required within the scope
of IP communication with the SERCOS 3 or ProfiNet slave.
The IP address (Internet Protocol) is used to clearly identify a node on the In
ternet.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 241/1033


and Controls

Standard Parameters
Changes of the parameter will only take effect after the 24V supply
of the drive has been switched on again.
See also Functional Description "SERCOS III"
Structure

The IP address is a list parameter with the following structure:

Fig.3-90:

S-0-1020, Master communication: IP address

Use

The IP address must be set with regard to the specific application


and can be changed like the master communication address (cf.
P04025), for example!
See also Parameter Description "S-0-1021, Master communication: network
mask"
See also Parameter Description "S-0-1022, Master communication: Gateway
address"
S-0-1020 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.86

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

S-0-1021, Master communication: network mask


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
MPH
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Parameter S-0-1021 contains the network mask of an IP node which is required


within the scope of IP communication with the SERCOS 3 or ProfiNet slave.
Each IP address (Internet Protocol) consists of a network and a device part.
The network mask is used to distinguish between network and device part.
Changes of the parameter will only take effect after the 24V supply
of the drive has been switched on again.
See also Functional Description "SERCOS III"

242/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Structure

The network mask is a list parameter with the following structure:

Fig.3-91:

S-0-1021, Master communication: network mask

See also Parameter Description "S-0-1020, Master communication: IP ad


dress"
See also Parameter Description "S-0-1022, Master communication: Gateway
address"
S-0-1021 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

3.4.87

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 1Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-1022, Master communication: gateway address


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
MPH
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Parameter S-0-1022 contains the gateway address of the IP node on the master
communication interface which is required within the scope of IP communica
tion.
If the master communication master wants to transmit an IP package (Internet
Protocol), 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 gate
way address.
Changes of the parameter will only take effect after the 24V supply
of the drive has been switched on again.
See also Functional Description "SERCOS III"

Structure

The gateway address is a list parameter with the following structure:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 243/1033


and Controls

Standard Parameters

Fig.3-92:

S-0-1022, Master communication: gateway address

See also Parameter Description "S-0-1020, Master communication: IP ad


dress"
See also Parameter Description "S-0-1021, Master communication: network
mask"
S-0-1022 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.88

P234
----

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

S-0-1023, SERCOS III: SYNC jitter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The parameter S01023 is used to set the maximum possible jitter of the control
unit's synchronization clock.
This allows adjusting the monitors in the SERCOS III slaves to the
possibilities of the SIII master.
See also Functional Description "SERCOS III"

Use

S-0-1023 - Attributes

The are the following options:

0 - < +/- 1s: for highest demands regarding synchronization

1 - +/- 1...50s for standard synchronization requirements

2 no synchronization

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
----

min./max.
1,000 / 50,000

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: -Default value
1,000

244/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
MPD:
MPH:

3.4.89

1,000 / 50,000
1,000 / 50,000

1,000
1,000

S-0-1024, SERCOS III: ring control


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The hardware is controlled by means of the ring control.

loopback on/off

synchronization measurement on/off

switch on repeater after ring brake

See also Functional Description "SERCOS III"


Structure

Bit

Designation/function

1/0

ring type

Comment

00: check automatically


01: switch to line mode
10: switch to double ring
11: --3/2

synchronization measurement
0: deactivate
1: activate

431

reserved

Fig.3-93:
S-0-1024 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

S-0-1024, SERCOS-III: ring control


Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.90

P234
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

S-0-1025, SERCOS III: ring status


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

In the ring status, the device stores the states of the hardware.

loopback

synchronization measurement

P-channel and/or S-channel

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 245/1033


and Controls

Standard Parameters

receive P-telegrams at Port1 etc.

last in line
This parameter is used for diagnosis of the SERCOS III communi
cation!

See also Functional Description "SERCOS III"


Structure

Bit

Designation/function

1/0

ring type

Comment

00: no MST received up to now


01: line
10: double ring
11: --2

last in line
0: no
1: yes

synchronization measurement
0: not active
1: active

5/4

Port-1: channel
00: no MST up to now
01: P-channel
10: S-channel
11: ---

7/6

Port-2: channel
00: no MST up to now
01: P-channel
10: S-channel
11: ---

831

reserved

Fig.3-94:
S-0-1025 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

S-0-1025, SERCOS-III: ring status, bits 0...15


Par
----

Input
MPB:
MPD:
MPH:

3.4.91

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

S-0-1026, SERCOS III: hardware code


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
MPB
MPB

-
-
MPH
MPH

-
-
MPD
MPD

246/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
Hardware
Funct. package(s):
Function

optional master communication card


"open loop", "closed loop"

This parameter contains the SERCOS-III-specific hardware code in the form of


a text (ASCII format):

FPGA version and revision

GPCC version and revision

See also Functional Description "SERCOS III"


Structure

Interpret the content of the parameter as follows:

Fig.3-95:
S-0-1026 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Structure and content of S-0-1026, SERCOS-III: hardware code


Par
----

Input
MPB:
MPD:
MPH:

3.4.92

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
-------

S-0-1028, SERCOS III: MST error counter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The MST error counter counts all invalid MSTs in phases 3 and 4 and has a
limit stop at 216-1.
During heavily disturbed transmission the value 65535 will be
reached after some time.
Interpretation of parameter content
You have to observe the following points for interpreting the error counter:

The error counter is only incremented once per communication cycle, in


dependent of the number of MSTs which failed.

The error counter is cleared at the first MST in phase 3.

See also Functional Description "SERCOS III"


S-0-1028 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 247/1033


and Controls

Standard Parameters
Input
MPB:
MPD:
MPH:

3.4.93

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

S-0-1029, SERCOS III: MDT error counter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Those master data telegrams are monitored for which the value in parameter
"S01010, SERCOS-III: MDT lengths" is greater than "0". This is done inde
pendently of whether the telegram contains data for this slave or not. The MDT
error counter counts all invalid master data telegrams (MDTs) in phases 3 and
4 and has a limit stop at 216-1.
During heavily disturbed transmission the value 65535 will be
reached after some time.
Interpretation of parameter content
You have to observe the following points for interpreting the error counter:

The error counter is only incremented once per communication cycle, in


dependent of the number of MDTs which failed.

The counter is only incremented, when the corresponding MDT fails both
on Port 1 and on Port 2.

The error counter is cleared at the first MST in phase 3.

See also Functional Description "SERCOS III"


S-0-1029 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.94

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0
0
0

S-0-1030, SERCOS III: AT error counter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Those drive telegrams are monitored for which the value in parameter
"S01012, SERCOS-III: AT lengths" is greater than "0". This is done inde
pendently of whether the telegram contains data for this slave or not. The AT
error counter counts all invalid drive telegrams (ATs) in phases 3 and 4 and has
a limit stop at 216-1.

248/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
During heavily disturbed transmission the value 65535 will be
reached after some time.
Interpretation of parameter content
You have to observe the following points for interpreting the error counter:

The error counter is only incremented once per communication cycle, in


dependent of the number of ATs which failed.

The counter is only incremented, when the corresponding AT fails both on


Port 1 and on Port 2.

The error counter is cleared at the first MST in phase 3.

See also Functional Description "SERCOS III"


S-0-1030 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

3.4.95

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

S-0-1040, Drive address of master communication


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

By means of this parameter, it is possible to set the address for the master
communication (e.g. SERCOS, Profibus...). Except for amendments made for
SERCOS III, the parameter corresponds to P-0-4025. Any change in the ad
dress is simultaneously carried out for both parameters.
The currently effective address can be directly taken from param
eter "S-0-0096, Slave arrangement (SLKN)" or "P-0-4031, Over
view of device addresses"!
See also Functional Description "Serial Communication"

Use

The following has to be observed for parameterization:

The parameter can be set via the control panel, the serial interface or the
master communication interface.
Note:With SERCOS II, it can only be changed in phase 0 and with all other
interfaces (also SERCOS III) in the parameter mode ("PM").

The entered address takes effect:

SERCOS II: at the next change of communication phases from


"phase 0" to "phase 1"; this is why it might possibly be required to
run up the drive again

SERCOS III:immediately

Field bus and analog/parallel: at the next change to the operating


mode ("OM")

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 249/1033


and Controls

Standard Parameters

With the setting "P-0-4022 = "256" ( default value), the address set in
"S-0-1040, Drive address of master communication" is used for serial
communication.

See also Parameter Description "P-0-4025, Drive address of master commu


nication"
See also Parameter Description "P-0-4031, Overview of device addresses"
See also Parameter Description "S-0-0096, Slave arrangement (SLKN)"
S-0-1040 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

3.4.96

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1 / 99
1 / 99
1 / 99

Default value
-------

S-0-1095, SERCOS III: diagnostic message


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This parameter is used for diagnosis of the SERCOS III communication.


See also Functional Description "SERCOS III"

Use

S-0-1095 - Attributes

There are the following possible display texts (content of S01095):

"MasterComm-HW: No code for SERCOS-III/HCC04"

"FPGA: is not supported by firmware"

"FPGA: S-III Device Type (0x88CD) not found"

"FPGA: incorrect Device Version"

"FPGA: incorrect Device Release"

"Basic initialization completed"

"Phase switch: CP allowed, descr. active"

"Phase switch: CP allowed, descr. inactive"

"Phase switch: timeout due to MST miss"

"Phase switch: waiting for first MST"

"Phase switch: phase > 4"

"Phase switch: MST bit7 missing"

"Synchronization MST->position clock does not work"

"Synchronization MST->position clock works"

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
---

250/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Standard Parameters
MPD:
MPH:

3.4.97

--- / ----- / ---

-----

S-0-1134, SERCOS III: Master control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

For drives with SERCOS III interface the master control word is cyclically trans
mitted from master to drive.
There is important control information defined in the master control word, like
for example:

drive enable

Drive Halt

selection of command operating mode


For SERCOS III the master control word was extended to 32 bits.
This requires a new parameter. For reasons of compatibility,
S00134 still exists.

See also Functional Description "Device Control (Status Machine)"


See also Functional Description "SERCOS III"
Structure

S-0-1134 - Attributes

The parameter has the following structure:

Bits 0...15: correspond to "S-0-0134, Master control word"

Bits 16...31: not yet defined!

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

3.4.98

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

S-0-1135, SERCOS III: Drive status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

For drives with SERCOS III interface, the drive status word is cyclically trans
mitted from drive to master. There is important status information contained in
the drive status word, like for example:

readiness for operation of control and power sections

drive errors

change bits class 2 and 3 diagnostics

current operating mode

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 251/1033


and Controls

Standard Parameters
For SERCOS III, the drive status word was extended to 32 bits. For
reasons of compatibility, S-00135 still exists!
See also Functional Description "Device Control (State Machine)"
See also Functional Description "SERCOS III"
Structure

The parameter has the following structure:


Bit

Designation/function

Comment

2-0

control information for service channel

status of command value processing

command change bit

7/6

real-time status bits 1 and 2

10-8 actual operating mode


000: primary mode of operation active
001: secondary oper. mode 1 active
010: secondary oper. mode 2, etc.
11

change bit class 3 diagnostics

12

change bit class 2 diagnostics

13

drive error, error in class 1 diagnostics

15/1 ready for operation


4
00: drive not ready for power on, because internal checks not
positively completed
01: ready for power on
10: control and power sections ready for operation, torque-free
11: in operation, with torque
31-1 reserved
6

Fig.3-96:
S-0-1135 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Structure of S-0-1135, SERCOS-III: Drive status word


Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 253/1033


and Controls

Product-Specific Parameters

Product-Specific Parameters

4.1

P-0-0000 - P-0-0100 General Functions

4.1.1

P-0-0001, Switching frequency of the power output stage


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Via this parameter, the switching frequency of the power output stage (fPWM)
can be freely set within the scope of the frequencies supported by the respective
power section.
Only set such switching frequencies which are supported by the
involved components! Observe the Technical Data for drive con
trollers and motors. In particular, only the combination HCS04 with
MAD/MAF motors is allowed with a switching frequency of 2 kHz.
See also Functional Description "Current Loop"

Use

Observe the following aspects for parameter setting:

The actually possible input values for the switching frequency of the output
stage depend on the performance setting in parameter "P00556, Control
word of axis controller".

The effective switching frequency is reduced in the case of high device


load, if "PWM frequency switching depending on load" has been activated
in parameter "P00556, Control word of axis controller", bit 8.

The maximum switching frequency is determined by "P04058, Amplifier


type data", list element 16. Depending on the device type, the following
values can be set, for example:

Device type / switching frequ. fs [kHz]

12

16

HCS02

HCS03

HCS04 (as of MPx04)

HMS01

HMS02 (as of MPx04)

HMD01

Fig.4-1:

Switching frequency

O: not possible
X: possible
The cycle time of current control results from the combination of switching fre
quency of the output stage and performance setting in parameter "P00556,
Control word of axis controller". In general: the higher the switching frequency
selected, the shorter the cycle time.
The higher the clock frequency selected, the lower the continuous
output current of the controller!

254/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Record of Modifications

P-0-0001 - Attributes

Version
up to MPX04VRS
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Hz
--

Attribute
MPB_max value: 8000
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.2

PM
PM->OM
+
--

Comment
Data length: 2Byte
Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
4000 / 12000
4000 / 8000
4000 / 16000

Default value
4000
4000
4000

P-0-0004, Speed loop smoothing time constant


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The time constant that can be activated in this parameter takes effect in the
velocity controller and is suited for suppressing quantization effects and limiting
the bandwidth of the velocity control loop.
See also Functional Description "Velocity Control Mode"
The limit frequency results from the smoothing time constant by means of the
following relationship:

Fig.4-2:

Bandwidth

By inputting the minimum input value the filter is switched off.


P-0-0004 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.3

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
0 / 65500
0 / 65500
0 / 65500

Default value
800
800
800

P-0-0007, Display text of diagnostic message


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter contains the display text currently displayed on the control panel
of the drive.
Example:" AF" or " PL"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 255/1033


and Controls

Product-Specific Parameters
See also Functional Description "Coded Diagnostic Drive Messages"
P-0-0007 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.4

nein
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0008, Activation E-Stop function


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used for activating the E-Stop input and selecting a reaction
for the shutdown of the drive.
See also Functional Description "E-Stop Function"

Structure

Bit

Designation/function

activation of E-Stop

Comment

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

interpretation
0: as non-fatal error
1: fatal warning

Fig.4-3:

P-0-0008, Activation E-Stop-Function

The input is always "0-active", i.e. 0 V on the input means it is active!


"P00223, E-Stop input" must have been assigned to a digital input
via the P00300 and P00301 parameters.
P-0-0008 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
0/7
0/7
0/7

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0
0
0

256/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.1.5

P-0-0009, Error number


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

When the drive diagnoses a class 1 diagnostics error, a bit is set in parameter
"S00011, 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 parameter


"S00390, Diagnostic message number",

the plain text diagnosis is stored in parameter "S00095, Diagnostic mes


sage"

and the respective error number is stored in parameter "P00009, Error


number".

When there isn't any error present, the value of parameter P00009, 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:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.1.6

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0010, Excessive position command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the "cyclic position control" mode (S-0-003235 = 0x0003, 0x0004, 0x000B


or 0x000C) the NC sets position command values in equal time intervals
("S00001, NC Cycle time (TNcyc)").
See also Functional Description "Position Control with Cyclic Command Value
Input"

Use

In the drive the difference of two successive position command values is moni
tored with regard to exceeding the "S00091, Bipolar velocity limit value".

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 257/1033


and Controls

Product-Specific Parameters
In case the value is exceeded the "F2037 Excessive position command differ
ence" error is activated and the "excessive position command value" Xcmd(k)
that activated the error is stored the "P00010, Excessive position command
value" parameter.
P-0-0010 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.1.7

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0011, Last valid position command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the "cyclic position control" mode (S-0-003235 = 0x0003, 0x0004, 0x000B


or 0x000C) the NC sets position command values in equal time intervals
("S00001, NC Cycle time (TNcyc)"). In the drive the difference of two succes
sive position command values is monitored with regard to exceeding the
"S00091, Bipolar velocity limit value".
See also Functional Description "Position Control with Cyclic Command Value
Input"

Use

P-0-0011 - Attributes

In case the value is exceeded the "F2037 Excessive position command differ
ence" error is activated and the "last valid position command value" Xcmd(k-1)
is stored the "P00011, Last valid position command value" parameter.
Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.1.8

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0012, C0300 Command Set absolute measuring


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

When commissioning an absolute measuring system, the actual position value


of this system at first displays the value of "P00019, Initial position value" if
the "Set absolute measuring" command has not yet been executed. But if an

258/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
other absolute value encoder that has been homed has been connected, the
value of this encoder is displayed.
See also Functional Description "Establishing the Position Data Reference "
Use

By means of the "Set absolute measuring" command the actual position value
can be set to a desired new value at any reference position. After the "Set
absolute measuring" command has been completed, the actual position value
of the respective encoder has a new reference system. The value of the re
spective bit in the "S00403, Position feedback value status" parameter then
is 1.
The command only acts on the connected absolute measuring sys
tem that has been selected in "P00612, Control word for setting
absolute measuring".
By means of a backup of all required data of the absolute measuring system in
the feedback data memory or parameter data memory, all information will be
available every time the machine is switched off and on again. The actual po
sition value retains its reference to the machine zero point.

P-0-0012 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.1.9

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0013, List of all IDNs not corresponding to default value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains a list of the IDNs of those parameters the data of which
has changed with regard to the default value.
See also Functional Description "Parameters, Basics"

P-0-0013 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.1.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0014, C1400 Command Get marker position


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 259/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-closed loop

The command "P00014, C1400 Command Get marker position" is used to


check the reference mark detection of an incremental measuring system.
See also Functional Description "Detecting the Marker Position"

Use

If the command has been activated, the actual position value of the measuring
system is stored in parameter "S00173, Marker position A", once the refer
ence mark has been detected, and the command is signaled to have been
completed. In case the drive, apart from the motor encoder, is equipped with
an optional encoder, bit 3 of "S00147, Homing parameter" determines which
encoder stores the position of the reference mark!
For incremental encoders with distance-coded reference marks,
the actual position value of the other reference mark is stored in
"S00174, Marker position B"!

P-0-0014 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.11

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0018, Number of pole pairs/pole pair distance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The following settings can be made depending on bit 9 of parameter "P04014,


Type of construction of motor":

number of pole pairs in the case of rotary motors

pole pair distance/pole pair length in the case of linear motors


Writing the correct value to this parameter:

In the case of MHD, MKD, MKE, automatically at initial com


missioning.

In the case of 2AD, ADF, linear and rotary kit motors, by load
ing the motor parameters with the IndraWorks D commission
ing tool.

In the case of other motors, manual input according to manu


facturer's specification.

See also Functional Description "Motor, Mechanical Axis System, Measuring


Systems"
P-0-0018 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
P-0-4014
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
P-0-4014
set switchable: +

260/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input

min./max.
Default value
StdOne / ausMART_Max
3
WertPolpaa
StdOne / ausMART_Max
3
WertPolpaa
StdOne / ausMART_Max
3
WertPolpaa

MPB:
MPD:
MPH:

4.1.12

P-0-0019, Initial position value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the case of a non-homed drive (S-0-0403 = 0x0), the actual position value of
the motor encoder (S-0-0051) and, if available, the actual position value of the
optional encoder (S-0-0053) is set to the value of P00019 during the initiali
zation process (transition command communication phase 3 to 4), if this has
been selected accordingly in the position feedback type parameter (S-0-0277/
S-0-0115).
The default value of P00019 is zero.
See also Functional Description "Shifting the Position Data Reference for Rel
ative and Absolute Measuring Systems"

P-0-0019 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.1.13

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0020, Oscilloscope: operating mode


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of parameter "P00020, Oscilloscope: operating mode" it is possible


to activate special functions, such as device oscilloscope for multi-axis devices.
The parameter can only be changed when all oscilloscope functions
of a device have been deactivated (see also "P00028, Oscillo
scope: control word").

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 261/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

device oscilloscope

Comment

0: axis oscilloscope (one separate oscilloscope for each axis


of a device)
1: device oscilloscope (one common oscilloscope for all ax
es of a device)

Fig.4-4:

P-0-0020, Oscilloscope: operating mode

See also Functional Description "Oscilloscope Function"


P-0-0020 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.1.14

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0021, Oscilloscope: list of measured values 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The measured values of channel 1 of the oscilloscope function are stored in


chronological order in parameter "P00021, Oscilloscope: list of measured val
ues 1". The oldest measured value is the first element of the list of measured
values.
The recorded signal is the one identified by means of the IDN entered in
"P00023, Oscilloscope: signal selection 1".
Attribute, unit etc. are automatically adjusting to this selected signal.
See also Functional Description "Oscilloscope Function"

P-0-0021 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.1.15

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0022, Oscilloscope: list of measured values 2


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

262/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

The measured values of channel 2 of the oscilloscope function are stored in


chronological order in parameter "P00022, Oscilloscope: list of measured val
ues 2". The oldest measured value is the first element of the list of measured
values.
The recorded signal is the one identified by means of the IDN entered in
"P00024, Oscilloscope: signal selection 2".
Attribute, unit etc. are automatically adjusting to this selected signal.
See also Functional Description "Oscilloscope Function"

P-0-0022 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.1.16

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0023, Oscilloscope: signal selection 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The IDN entered in "P00023, 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 "P00149, Oscillo
scope: signal selection list".
The measuring channel is deactivated with the input "0" or
"S00000".
When the recording is over, the recorded measured values are contained in
parameter "P00021, Oscilloscope: list of measured values 1".
See also Functional Description "Oscilloscope Function"

P-0-0023 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.1.17

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0024, Oscilloscope: signal selection 2


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 263/1033


and Controls

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
-"open loop", "closed loop"

MPD

The IDN entered in "P00024, 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 "P00149, Oscillo
scope: signal selection list".
The measuring channel is deactivated with the input "0" or
"S00000".
When the recording is over, the recorded measured values are contained in
parameter "P00022, Oscilloscope: list of measured values 2".
See also Functional Description "Oscilloscope Function"

P-0-0024 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.1.18

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0025, Oscilloscope: trigger mask


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For trigger signals with the display format "Bin" and "Hex", it is possible by
means of parameter "P00025, Oscilloscope: trigger mask" to put an additional
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:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.1.19

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0xFFFFFFFF
0xFFFFFFFF
0xFFFFFFFF

P-0-0026, Oscilloscope: trigger signal selection


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

264/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

The parameter "P00026, Oscilloscope: trigger signal selection" determines


for the trigger unit with which signal from "P00149, Oscilloscope: signal se
lection list" the trigger level (P00027) is to be compared.
Selecting a trigger signal (cf. P00026) also determines the unit
and format for "P00027, Oscilloscope: trigger level".
See also Functional Description "Oscilloscope Function"

Use

At the start of the recording (P00036, Bit 2 1) the trigger error bit (P00037,
bit 7) is then set in the status word.
The parameter can only be changed when the oscilloscope has been deacti
vated (see also "P00028, Oscilloscope: control word").
When S00000 is preset as IDN, the trigger function is not active.

P-0-0026 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.20

PM+OM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0027, Oscilloscope: trigger level


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter "P00027, Oscilloscope: trigger level" is the comparative value


for the trigger function.
See also Functional Description "Oscilloscope Function"

Use

Depending on the selected trigger edge (P00030), the bit for "internal
trigger" (P00037, bit 2) is set when the trigger condition has been reached.
Before that bit 8 and bit 9 in the status word (P00029) indicate whether the
value of the selected trigger source is above or below the trigger level or wheth
er the value corresponds to the trigger level.
The parameter can only be changed when the recording has been
started (see also "P00028, Oscilloscope: control word"). Depend
ing on the IDN selected in "P00026, Oscilloscope: trigger signal
selection", attribute and unit are adjusting to the selected signal.

P-0-0027 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 265/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.1.21

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0028, Oscilloscope: control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter "P00028, Oscilloscope: control word" contains (except for the
operating mode) all settings for controlling the oscilloscope. These settings
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

start of recording

Comment

0: recording is stopped
1: recording is started
1

kind of trigger
0: internal trigger (without offset measurement)
1: external trigger (with offset measurement)

Fig.4-5:
P-0-0028 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-0028, Oscilloscope: control word


Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.22

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0029, Oscilloscope: status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter "P0-0029, Oscilloscope: status word" displays the current sta
tus of the oscilloscope function.
See also Functional Description "Oscilloscope Function"

266/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Structure

Bit

Designation/function

start of recording

Comment

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 released.
Comparison continues to run.

internal trigger
0: Internal trigger not yet released.
1: Internal trigger released. Comparison successfully com
pleted.

trigger function completed


1: When triggering via external trigger signal, (P-0-0028, bit1
= 1) an external trigger signal was detected. When triggering
via internal source only, this bit is set together with bit 2.

delay function completed


0: delay function still active
1: Delay function completed. New measured values can be
read. Bit 0 is cleared.

trigger error
0: trigger function correctly intialized at start of recording
(P-0-0028, bit 0)
1: Trigger function not correctly intialized at start of recording
(P-0-0028, bit 0), e.g. incorrect trigger source (P-0-0026).
Trigger function threrefore cannot be executed.

8/9

status trigger signal


(comparison only takes place with active trigger function and
until internal trigger bit2 has been reached)
00: no comparison
01: trigger signal > trigger threshold (P-0-0027)
10: trigger signal < trigger threshold (P-0-0027)
11: trigger signal = trigger threshold (P-0-0027)

Fig.4-6:

P-0-0029, Oscilloscope: status word

See also Parameter Description "P00028, Oscilloscope: control word


P-0-0029 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 267/1033


and Controls

Product-Specific Parameters

4.1.23

P-0-0030, Oscilloscope: trigger edge


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter "P00030, Oscilloscope: trigger edge" determines the edge at


which the "internal trigger" (P00029, bit 2) is triggered.
See also the functional description: "Oscilloscope Function"

Structure

Bit

Designation/function

trigger edge positive

Comment

1: internal trigger is triggered at positive edge


1

trigger edge negative


1: internal trigger is triggered at negative edge

trigger equal
1: internal trigger is triggered when trigger level and value
of trigger source are equal

Fig.4-7:
Use

P-0-0020, Oscilloscope: operating mode

In addition, it is possible to check the equality of trigger level and trigger source.
Combinations of several conditions (e.g.) are possible.
The parameter can also be changed when the recording has been started (see
also "P00028, Oscilloscope: control word"). This however can cause the "in
ternal trigger" to be triggered accidentally.

P-0-0030 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.1.24

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1/4
1/4
1/4

Default value
3
3
3

P-0-0031, Oscilloscope: time resolution


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The time resolution of the oscilloscope function (i.e. the sampling rate) can be
defined by parameter "P00031, Oscilloscope: time resolution". As a maximum
(= highest sampling rate) the signals can be recorded in the position loop clock
(Advanced: 250 s, Basic: 500 s, Low Performance: 1 ms).
The following applies to the parameterization of P00031:

The input range of P00031 therefore depends on the hardware and firm
ware that are used (or the performance set in "P00556").

268/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

When new values are entered they are automatically replaced by multiples
of the minimum value.
Parameter "P00031" can only be changed when the oscilloscope
has been deactivated (see also "P00028, Oscilloscope: control
word").

See also Functional Description "Oscilloscope Function"


P-0-0031 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.25

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
250 / 8000000
250 / 8000000
250 / 8000000

Default value
1000
1000
1000

P-0-0032, Oscilloscope: size of memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 ("P00031,
Oscilloscope: time resolution") you can determine the recording time.
The minimum recording duration is one position clock!
In general, the following applies:

Fig.4-8:

Recording time

With the size of memory the master can adjust the size of the lists of measured
values to its requirements (e.g. available memory). The parameter can only be
changed when the oscilloscope has been deactivated (see also "P00028,
Oscilloscope: control word").
See also Functional Description "Oscilloscope Function"
P-0-0032 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
1 / 8192
1 / 8192
1 / 8192

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
4096
4096
4096

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 269/1033


and Controls

Product-Specific Parameters

4.1.26

P-0-0033, Oscilloscope: number of measured values after trigger event


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter "P00033, Oscilloscope: number of measured values after trig


ger event" determines the number of measured values that will still be recorded
after the trigger event ("P00029", bit 3 = 1) has occurred (delay function).
See also the functional description: "Oscilloscope Function"

Use

P-0-0033 - Attributes

After these measured values have been recorded, the bit "delay function
completed" (P-0-0029, bit 4) is set in "P00029, Oscilloscope: status word".
The entire recording then is completed and the lists of measured values can be
read.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.1.27

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 8192
0 / 8192
0 / 8192

Default value
0
0
0

P-0-0034, Position command additional actual value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter is used as the start value for synchronization in a synchroniza


tion mode with outer position control loop.
It contains the difference between "P00753, 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 actual value cycle is used as
modulo range for P00034.

P-0-0034 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

Comb. check: -min./max.


--- / ----- / ----- / ---

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

270/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.1.28

P-0-0035, Oscilloscope: control offset


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

With the selection "trigger offset measurement" (P-0-0028, bit 1 = 1), the pa
rameter "P00035, Oscilloscope: control offset" contains the number of meas
ured values that were recorded between the occurrence of the "internal
trigger" (P00029, bit 2) and the occurrence of the "external trigger for trigger
offset measurement" (P00036, 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 "P00028, Oscilloscope: control word"

P-0-0035 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.29

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0036, Oscilloscope: external trigger signal


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter "P00036, Oscilloscope: external trigger signal" is a real-time


control bit parameter and can be parameterized both in the real-time channel
of the interface and as hardware input.
See also Parameter Description "P00028, Oscilloscope: control word"
See also the Functional Description: "Oscilloscope Function"

Structure

Bit

Designation/function

external trigger signal

Comment

0: external trigger signal = Low


1: external trigger signal = High

Fig.4-9:
P-0-0036 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

P-0-0036, Oscilloscope: external trigger signal


Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 271/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.1.30

--- / ----- / ---

-----

P-0-0037, Oscilloscope: internal trigger signal


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter "P00037, 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

internal trigger

Comment

0: Internal trigger not yet triggered. Comparison still active.


1: Internal trigger triggered. Comparison successfully com
pleted.

Fig.4-10:
P-0-0037 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-0037: Oscilloscope: internal trigger signal


Par
--AT

Input
MPB:
MPD:
MPH:

4.1.31

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0038, Torque-generating current, command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Display parameter for the torque component or force-generating component of


the current command value.
The velocity loop generates the torque or force command value that is after
wards converted to the torque-generating current command value via
"P00051, Torque/force constant". The value is therefore updated in the ve
locity loop cycle time (250 s/125 s controller performance).
See also Functional Description "Torque/Force Control"

P-0-0038 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-A eff
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

272/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.1.32

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0039, Flux-generating current, command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 "P04004, Magnetizing current". Differing from this value, the fluxgenerating current command value is reduced, if:

"P00532, 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 weaken


ing operation is an exception. In this case the controller generates a negative
flux-generating current in order to weaken the permanent field!
P-0-0039 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-A eff
AT

Input

OM
-+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
alIREG_MinWertIdSoll[] /
alIRE
alIREG_MinWertIdSoll[] /
alIRE
alIREG_MinWertIdSoll[] /
alIRE

MPB:
MPD:
MPH:

4.1.33

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Default value
-------

P-0-0040, Velocity feedforward evaluation


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By means of the velocity feedforward that can be freely set via "P00040, Ve
locity feedforward evaluation", it is possible to set the lag error to a desired
percentage value at constant velocity. The minimum (ideally = 0) is at 100%.
The degree of feedforward can be set in the range of 0%...120%.
Activating the lagless operation (cf. S00032, S00033, S00034,
S00035) causes a feedforward value determined from the position
command value (= velocity command value) to be added to the ve
locity command value at the position controller output.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 273/1033


and Controls

Product-Specific Parameters
P-0-0040 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.34

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
0,00 / 120,00
0,00 / 120,00
0,00 / 120,00

Default value
100,00
100,00
100,00

P-0-0041, Position command average value filter time constant


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter P00041 allows filtering the position command values at the input
of the position loop with a moving average filter (see also command value ad
justment of the respective operating mode!). This allows smoothing the position
command value profile and reducing the acceleration or the jerk which is re
quired for some mechanical systems to avoid excitation of machine resonances
by the command value characteristic.
See also Functional Description "Position Control with Cyclic Command Value
Input"

Use

P-0-0041 is only used to parameterize the jerk in cyclic position control.


The following aspects have to be taken into account:

The effective filter order M is always displayed in "P00042, Current po


sition command average value filter order" (P-0-0042=P-0-0041/TNcyc).

The NC cycle time TNcyc (cf. S-0-0001) and the position loop clock de
pend on the performance (cf. Functional Description "Performance Data").

Extended Fundamentals
In the case of this filter type and with constant input value, the output is always:

Fig.4-11:

This means that the filter output Y, with constant input value X, increases in a
linear way and has reached its final value at the filter output after the time :

Fig.4-12:

This filter type therefore does not show the typical "creep
behavior" (filter output increases and decreases according to an efunction!) of the usual VZ1 and VZ2 filters.
P-0-0041 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte
DEC_OV

274/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
us
Cycl. tra.: --

Extr. val. ch.: +


Comb. check: --

Input

min./max.
0 / aulSOVA_MaxShape
Filterzeit
0 / aulSOVA_MaxShape
Filterzeit
0 / aulSOVA_MaxShape
Filterzeit

MPB:
MPD:
MPH:

4.1.35

Decim. pl.:
0
set switchable: +
Default value
0
0
0

P-0-0042, Current position command average value filter order


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The effective filter order M of the position command value filter designed as a
moving average filter (cf. P00041) is always displayed in "P00042, Current
position command average value filter order".
The user cannot change P00042 directly!
See also Functional Description "Position Control With Cyclic Command Value
Input"
See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Controlled Positioning"

Use

The filter effect of the position command value filter depends on the following
data:

filter order M (cf. P-0-0042)

active operating mode and performance


(see also chapter Performance Data)

We distinguish the following cases:

cycl. position control: P-0-0042 = P-0-0041/TNcyc


parameterization of P-0-0041! (max. filter order M = 64)

interpolation mode: P-0-0042 = S-0-0260/S-0-0193/*TA,position


parameterization of S-0-0260, S-0-0193!

positioning block mode: P-0-0042 = P-0-4008/P-0-4009/*TA,position


parameterization of P-0-4008, P-0-4009!
In the case of interpolation modes, the calculated filter order is limited, the
maximum value depends on the firmware version and the control section
hardware (MP*03: M = 64; as of MP*04: HPC M = 1024; otherwise M =
512).
The max. filter order in the case of interpolation modes depends on
the version (MP*03: M = 64 and as ofMP*04: M = 512 or M =
1024 for Advanced).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 275/1033


and Controls

Product-Specific Parameters
For further details on the filter properties and the parameter setting,
see the description of "P-0-0041, Position command average value
filter time constant"!
P-0-0042 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.1.36

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0043, Torque-generating current, actual value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Display parameter for the torque-generating component of the measured actual


current value. The value is updated with the current loop cycle time.
The phase currents of the three-phase AC motor are measured.
The resulting torque-generating content of the total current is cal
culated internally and displayed by means of this parameter.

P-0-0043 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-A eff
AT

Input
MPB:
MPD:
MPH:

4.1.37

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0044, Flux-generating current, actual value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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.
The phase currents of the three-phase AC motor are measured.
The resulting flux-generating content of the total current is calcula
ted internally and displayed by means of this parameter.

276/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0044 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-A eff
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.38

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0045, Control word of current controller


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to configure the current loop. This means that with this
parameter you can activate and deactivate extended functions.
See also Functional Description "Motor Control"

Structure

Bit

Designation/function

field weakening with synchronous motors

Comment

0: switched off
1: enabled
1

maximum motor voltage (with U/f operation of asynchro as of MP*04V08


nous motors)
0: DC bus voltage unfiltered
1: DC bus voltage filtered

magnetization of asynchronous motors (operating prin


ciple of P-0-0532)
0: load-dependent
1: independent of load (controlled)

method of control for field weakening operation of the


asynchronous machine

as of MPx04V14

0: (default) standard method active


1: alternative method active
4

monitoring with regard to interruption of motor power ca as of MPx04V08


ble
1: switched off
0: active

compensation in power output stage (not with U/f oper as of MPx04VRS


ation of asynchronous motors)
as of MPx03V12
0: switched off
1: enabled

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 277/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

manual command value input for flux-generating current

Comment

0: switched off
1: enabled
8

enable velocity search mode (with U/f and FXC opera


tion of asynchronous motors)
0: search mode switched off
1: search mode enabled

configuration velocity search mode (only with U/f oper


ation of asynchronous motors)
0: search mode after "AF", only with the same sign of
n_cmd
1: search mode after "AF", bidirectional

12

enable stall protection loop (with U/f operation of asyn


chronous motors)
0: switched off
1: enabled

13

selection of U/f characteristic (with U/f operation of asyn


chronous motors)
0: linear
1: square

15/14

selection of motor operation


00: current control with motor encoder
01: U/f-controlled operation (only asynchronous motor)
10: current control without motor encoder (only asyn
chronous motor)
11: combination not allowed

MPx02VRS ;
MPx03VRS;
MPx04VRS;

as of MPx05VRS

00: current control with motor encoder


01: U/f-controlled operation (only asynchronous motor)
10: reserved
11: current control, sensorless (synchronous motor) fluxcontrolled motor operation, sensorless (FXC; asynchro
nous motor)

Fig.4-13:
Use

Current loop configuration

The following aspects have to be taken into account:

Bit 1: With open-loop U/f control, the motor voltage is by default limited to
the unfiltered DC bus voltage. In this way, maximum motor power can be
reached in the field weakening range. This voltage, however, is relatively
unstable due to the rectifier and other effects. If this causes too much
instability in the motor current (high harmonics component, unexpectedly
high rise in motor temperature, already in no-load operation), the maxi
mum motor voltage can be limited to the filtered DC bus voltage. This
clearly stabilizes the motor current. But is also reduces the maximum mo
tor power in the field weakening range.

Bit 2: This function can be switched off with bit 2 = 1. Only applies to
closed-loop control of asynchronous motors.

278/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also "P-0-0532, Premagnetization factor"

Bit 3: If problems, which cannot be solved by manual adjustment of motor


control parameters (e.g. F8078 when decelerating), occur during the op
eration of asynchronous motors in the field weakening range, it is advis
able for you to activate the "alternative" method of control for asynchro
nous motors. After having activated the alternative method of control, you
have to

for Rexroth motors: execute "C4600 Command Calculate motor con


trol parameters"

for third-party motors: input the type plate data in "P4032, Motor type
plate data",

"C3200 Command Calculate motor data"

the start "C3600 Command Motor data identification".

Note: If the motor does not yet run in a satisfactory way after the mentioned
commands were executed, you can manually change the motor control
parameters!

P-0-0045 - Attributes

Bit 5: It is recommended that you activate this function, if there are prob
lems in motor operation with small velocities. Particularly with sensorless
field-oriented control, the operating behavior is clearly improved motor
runs in a more stable way, maximum torques are higher. In the case of
field-oriented control with encoder, the operating behavior can be im
proved as regards the dynamic response of the control loop in the current
loop or the torque ripple content, for example. In the case of open-loop U/
f control, this setting is without effect.

Bit 6: Manual command value input is recommended, if you want to add


a command value jump within the scope of optimization activities without
thereby accelerating the motor. Only possible for synchronous motors
without reluctance effect and without field weakening!

Bit 15/14: Depending on the type of construction of the motor (P-0-4014,


bit 8), different methods of control are activated with bit 14=1 and bit 15=1:

Asynchronous motor: The flux-controlled motor operation is activa


ted.

Synchronous motor: The sensorless, current-controlled motor oper


ation of synchronous motors is activated.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.1.39

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: +

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0046, Status word of current controller


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 279/1033


and Controls

Product-Specific Parameters
Function
Structure

This parameter displays states that affect the correct behavior of the current
loop.
Bit

Designation/function

Internal drive enable active?


0: no
1: yes

Absolute value of actual current > 1.2* allowed output cur


rent?
0: no
1: yes

Overvoltage in DC bus?
0: no
1: yes

Voltage limitation in current loop active?


0: no
1: yes

Closed-loop Integrator output flux-generating component in


pos. limitation?
0: no
1: yes

Closed-loop Integrator output flux-generating component in


neg. limitation?
0: no
1: yes

Closed-loop Integrator output torque/force-generating com


ponent in pos. limit.?
0: no
1: yes

Closed-loop Integrator output torque/force-generating com


ponent in neg. limit.?
0: no
1: yes

12

Open-loop stall protect. loop active?


0: not active
1: active

13

Open-loop current limitation loop active?


0: not active
1: active

14

Open-loop search mode active?


0: not active
1: active

Fig.4-14:

Relevant bits of the current loop status word

Comment

280/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Use

The current loop status word can be configured in the AT. This allows assigning
the status messages to a digital output or evaluating them by the higher-level
control unit.
Bit 11: Closed-Loop
The monitor of the integrator of the flux-generating component has detected an
error (F8023 Error mechanical link of encoder or motor connection)
0 = no , 1 = yes
Note: the bit is present for at least 8 ms
Bit 20: Field weakening of synchronous motors
The voltage loop component for the flux-generating voltage is active
0 = no , 1 = yes
Bit 21: Field weakening of synchronous motors
The torque/force-dependent reduction of torque-generating voltage is active
0 = no , 1 = yes
Bit 22: Field weakening of synchronous motors
Voltage loop gains have been reduced in speed-dependent form
0 = no , 1 = yes
Bit 23: Synchronous motor with reluctance torque
Feedforward of flux-generating current is more negative than output of voltage
loop component for torque-generating voltage
0 = no , 1 = yes

P-0-0046 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.1.40

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0047, Position command value control


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the "position control" mode the control unit by means of "S00047" and in
the clock of its interpolation cycle time writes the cyclic position command val
ues to the drive.
If required, these position command values coming directly from the control unit
can be read via "P00047, Position command value control"!
The interpolation cycle time of the control unit (cf. "S00001") can
be a multiple of the communication cycle time (cf. "S00002") so
that "P00047" is also updated on the same time base!
See also Functional Description "Position Control with Cyclic Command Value
Input"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 281/1033


and Controls

Product-Specific Parameters
P-0-0047 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.1.41

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-0048, Effective velocity command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to display the velocity command value


at the summing point of the velocity controller.
At the summing point the actual velocity value is subtracted from
the effective velocity command value. The result of this calculation
(control difference) is the input of the speed controller.
See also the functional description: "Velocity Loop"
See also the functional description: "Synchronization Modes"

P-0-0048 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.1.42

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-0049, Effective torque/force command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

This parameter is used to display the torque/force command value after the
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 Loop"
See also Functional Description "Torque/Force Limitation"

Use

MPD
MPD
MPD
MPD

When using the parameter, observe the following aspects:

282/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Possibly effective additive torque command value components (cf.


P00445) of the optional cogging torque compensation and acceleration
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 multipli
cation with "P-0-0051, Torque/force constant" and is transmitted to the
current loop.
By simultaneously considering P-0-0049, P-0-0038 and P-0-0445,
you can determine all intermediate values.

P-0-0049 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT

Comb. check: --

Input
MPB:
MPD:
MPH:

4.1.43

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0051, Torque/force constant


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The torque/force constant indicates the relation of the motor torque/force and
the associated torque-generating current of the motor, if the motor is not in the
field weakening range.
If the motor is in the field weakening range, the actually effective torque/force
constant is reduced depending on the speed/velocity. The value in this param
eter, however, remains unchanged (relation to operation without field weaken
ing).
Writing the correct value to this parameter:

In the case of MHD, MKD, MKE, automatically at initial com


missioning.

In the case of 2AD, ADF, linear and rotary kit motors, by load
ing the motor parameters with the IndraWorks D commission
ing tool.

In the case of other motors, manual input according to manu


facturer's specification.

See also Functional Description "Torque/Force Control"


See also Functional Description "Motor, Mechanical Axis System, Measuring
Systems"
Use

Unit, Decimal Places

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 283/1033


and Controls

Product-Specific Parameters
The drive firmware automatically adjusts the unit and decimal places to the type
of construction of the motor (rotary or linear) entered in P04014, Type of con
struction of motor.
Unit for type of constr. of motor (P04014) Decimal places for type of constr. of motor
(P04014)
rotary

linear

rotary

linear

Nm/Aeff

N/Aeff

Fig.4-15:
P-0-0051 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Unit and decimal places depending on P-0-4014


Par
PARAM_SP
P-0-4014
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.44

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
P-0-4014
set switchable: +

min./max.
StdOne / MaxLong
StdOne / MaxLong
StdOne / MaxLong

Default value
1,00
1,00
1,00

P-0-0052, Actual position value of measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter display the current position of the measuring encoder at the
measuring gear output. Initialization takes place depending on the type of
measuring encoder.
See also Functional Description "Measuring Encoder"
See also Functional Description "Synchronization Modes"

Use

P-0-0052 - Attributes

For all measuring encoders the actual position values of which have not been
homed ("P00331, Status of measuring encoder"; bit 0 = 0), the fact is applying
that the internal actual position value of the measuring encoder is set to zero
when progressing to phase 4. The parameter P00052 is generated by adding
the internal actual position value of the measuring encoder to the actual position
value offset of the measuring encoder (P00087).
Function:
Memory:
Unit:
Cycl. tra.:

Par
-Incr
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.45

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0053, Master axis position


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

284/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-synchronisation (ELS)

The master axis position

is determined in the drive by evaluating the master axis encoder (operation


with real master axis) or

cyclically input by the control unit in equidistant intervals (virtual master


axis).

In the following operating modes this parameter is used for command value
input for the drive:

velocity synchronization

phase synchronization

electronic cam shaft

See also Functional Description "Synchronization Modes"


P-0-0053 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Incr
AT + MDT

Input
MPB:
MPD:
MPH:

4.1.46

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0054, Additive master axis position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

By means of this parameter it is possible to add a master axis position offset to


"P00053, Master axis position" or "P00052, Actual position value of meas
uring encoder".
See also Functional Description "Synchronization Modes"

Use

When using the parameter, observe the following aspects:

Any change of P00054 is traveled with a 2nd order interpolator, taking


the parameters "P00688, Additive master axis position, positioning ve
locity" and "P00689, Additive master axis position, positioning acceler
ation" into account.

The minimum/maximum value of "P-0-0054, Additive master axis position"


corresponds to the master axis cycle (P-0-0750 * 2^20).
When the parameter "P00750, Master axis revolutions per master
axis cycle" equals zero, the resulting maximum value for parameter
P00054 is (2^31 1) increments and the minimum value is
2^31 increments.

P-0-0054 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Incr
AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 285/1033


and Controls

Product-Specific Parameters
Input

min./max.
lELSY_VarMINP54[] /
lELSY_VarM
lELSY_VarMINP54[] /
lELSY_VarM
lELSY_VarMINP54[] /
lELSY_VarM

MPB:
MPD:
MPH:

4.1.47

Default value
0
0
0

P-0-0055, Return distance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 generates
a position command value profile for the return distance, in consideration of the
adjustable return velocity and return acceleration and complying with the posi
tion limit values. The return distance is entered in parameter P00055. A
positive return distance will cause positive motion with reference to the selected
coordinate system. The P00055, Return distance parameter can be transmit
ted in the cyclic telegram (MDT).
See also Functional Description "Best Possible Deceleration"

P-0-0055 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.1.48

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0056, Return velocity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 generates
a position command value profile for the return distance, in consideration of the
adjustable return velocity and return acceleration and complying with the posi
tion limit values. The return velocity is entered in parameter P00056.
See also Functional Description "Best Possible Deceleration"

P-0-0056 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

286/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.1.49

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
10,0000
10,0000
10,0000

P-0-0057, Return acceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 generates
a position command value profile for the return distance, in consideration of the
adjustable return velocity and return acceleration and complying with the posi
tion limit values. The return acceleration is entered in parameter P00057.
See also Functional Description "Best Possible Deceleration"

P-0-0057 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.1.50

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

Comb. check: -min./max.


S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
1000,000
1000,000
1000,000

P-0-0058, Return jerk


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 generates
a position command value profile for the return distance, in consideration of the
adjustable return velocity and return acceleration and complying with the posi
tion 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
P00058. It affects the effect of the position command value average filter.
See also Functional Description "Best Possible Deceleration"

P-0-0058 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: -Input


MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: -Default value
1000,000
1000,000
1000,000

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 287/1033


and Controls

Product-Specific Parameters

4.1.51

P-0-0059, Additive position command value, controller


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

By means of this parameter an additional position command value can be add


ed to the position command value generated by command value adjustment.
This additional command value is neither limited nor changed. This is why the
user has to make sure that absolute value, characteristic and the derived values
are within their allowed ranges of values!
See also Functional Description "Position Control With Cyclic Command Value
Input", "Drive-Internal Interpolation", "Drive-Controlled Positioning" and "Posi
tioning Block Mode".

Use

Feedforward values (velocity feedforward, acceleration feedforward) are de


rived from the position command value characteristic. In "P-0-0556, Config
word of axis controller" you can set whether the values of "P-0-0059, Additive
position command value, controller" are used for generating the feedforward
values or whether they are afterwards added to the position command value
generated by the command value adjustment.
If the values of P-0-0059 have been used for generating the feed
forward values, the time at which the additive position command
value takes effect is delayed by 1 position clock!
P-0-0059 can only be used in position-controlled operating modes, such as
cyclic position control, drive-internal interpolation, drive-internal positioning and
positioning block mode.
The actually effective position command value (addition of position
command value from command value adjustment of current oper
ating mode and "additive position command value, controller") is
displayed in parameter "P00434, Position command value of con
troller".
This parameter is used, for example, by the drive firmware in order to set com
mand values from the firmware-internal command value generator without
limitation and deformation (noise generator for control loop analysis). It can also
be used by the control master for adding feedforward values, for example!

P-0-0059 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

OM
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.1.52

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0060, Filter time constant additional pos. Command


Allocation

Contained in 02VRS:
Contained in 03VRS:

MPB
MPB

MPH
MPH

MPD
MPD

288/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD

This parameter is used to set the filter effect for the additive position command
value (cf. P-0-0054) which is filtered by means of a VZ1 filter (PT1).
See also Functional Description "Basic Functions of the Synchronization
Modes"

Use

P-0-0060 - Attributes

When using the parameter, observe the following aspects:

Either "P-0-0691, Additive position command value, process loop" or


"S-0-0048, Additive position command value" is filtered.

The decision as for which parameter the filter is used is taken by bit 0 of
"P-0-0155, Synchronization mode". If bit 0 = 0, P-0-0691 is filtered, oth
erwise S-0-0048.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
AT

Input
MPB:
MPD:
MPH:

4.1.53

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35

Default value
0,00
0,00
0,00

P-0-0061, Angle offset begin of profile


Allocation

Function
P-0-0061 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The access to the cam shaft profile is offset in negative direction by this angle
compared to the master axis position.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Deg
AT + MDT

Input
MPB:
MPD:
MPH:

4.1.54

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999

Default value
0,0000
0,0000
0,0000

P-0-0063, Torque-generating voltage, actual value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 289/1033


and Controls

Product-Specific Parameters
P-0-0063 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-V eff
AT

Input
MPB:
MPD:
MPH:

4.1.55

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0064, Flux-generating voltage, actual value


Allocation

Function
P-0-0064 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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.
Function:
Memory:
Unit:
Cycl. tra.:

Par
-V eff
AT

Input
MPB:
MPD:
MPH:

4.1.56

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0065, Absolute voltage value, actual value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays the absolute value of the voltage output by the current
loop which consists of the voltage components Ud and Uq.
The displayed voltage value corresponds to the measured value
available at the motor terminals (conductor reference) and is up
dated with the current loop cycle time!
See also Functional Description "Motor Control"

P-0-0065 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
-V eff
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: -Default value
-------

290/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.1.57

P-0-0067, Phase current U, actual value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

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:
Memory:
Unit:
Cycl. tra.:

Par
-A
AT

Input
MPB:
MPD:
MPH:

4.1.58

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0068, Phase current V, actual value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter is used to display the actual current value in the motor phase V
measured in the current loop clock (TA, current).
See also Functional Description "Performance Data"

P-0-0068 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-A
AT

Input
MPB:
MPD:
MPH:

4.1.59

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0071, C3100 Recalculate actual value cycle


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

By means of command C3100 it is possible to recalculate the actual value cycle


in phase 4 depending on parameter "P00155, Synchronization mode", bit 4.
After the command has been completed, it is necessary to start the command
"C0300 Command Set absolute measuring" (P00012) in order to initialize the
actual position values.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 291/1033


and Controls

Product-Specific Parameters
See also Functional Description "Synchronization Modes"
P-0-0071 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.60

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0072, Cam shaft profile 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Parameter P00072 contains a profile with data points tab for the profile of
cam shaft 1.
Rexroth IndraDrive supports up to 8 cam shaft profiles which can be divided
into the following groups:

4 cam shaft profiles with 3 to 1024 data points (P-0-0072, P-0-0092,


P-0-0780, P-0-0781)

4 cam shaft profiles with 3 to 128 data points (P-0-0782, P-0-0783,


P-0-0784, P-0-0785)
The individual data points of the profile are interconnected by
means of cubic spline interpolation.

See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"
Structure

The parameter has the following structure:

The first element in the profile is the data point for = 0.

The last element in the profile is the data point for = 360 - d ( old
standard) or = 360 (new standard).

Profile value

= 360 - d (old standard)

= 360 (new standard)

25

33.33

50

66.66

75

100

Fig.4-16:

Use

Example of a linear cam shaft profile (0 - 100% with 4 data points) with
old and new standard

The actual values of the cam shaft profile 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 cam


shaft distance (P00093 or P00073). The position of the slave axis is
determined by means of the positions determined in this way.

When using the parameter, observe the following aspects:

292/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

When the profile is used for the "cam shaft" mode, the values are always
mapped to one master axis revolution (360).

When the profile is used for a motion step of the "motion profile" mode,
the profile applies from the master axis initial angle of this step to the
master axis initial angle of the following step.

The data point distance d depends on whether the last profile value is to
apply to the end angle of the profile or to the end angle - d. This infor
mation on the profile format must be set in bit 8 of "P00086, Configuration
word synchronous operating modes".

If the last profile value applies to the end angle, the relationship is as follows:

Fig.4-17:

Data point distance for = 360

If the last profile value applies to the end angle - d, the relationship is as fol
lows:

Fig.4-18:

Data point distance for = 360- d

When you use the profile in the operating mode "electronic motion
profile", the first profile value has to be "0". The last profile value
has to be for the master axis end angle (bit 8, P00086 = 1)!
P-0-0072 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
FIX_IDN_SP Validity ch.:
%
Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.1.61

PM+OM
-+
--

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
6
set switchable: --

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

Default value
-------

P-0-0073, Cam shaft distance 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The cam shaft distance 2 is used when bit 5 = 1 was set in parameter "P00088,
Control word for synchronous operation modes". If the difference between the
new cam shaft value and the old cam shaft value is negative, the profile of the
cam shaft is multiplied with cam shaft distance 2 (application: clocked pull roll).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 293/1033


and Controls

Product-Specific Parameters
See also Functional Description of the operating mode"Electronic Cam Shaft
with Real/Virtual Master Axis"
P-0-0073 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: AT + MDT

Extr. val. ch.:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.1.62

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
360,0000
360,0000
360,0000

P-0-0074, Encoder type 1 (motor encoder)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In this parameter the controller is told which encoder type is to be evaluated as


a motor encoder.
Allowed motor encoders for ADVANCED, BASIC UNIVERSAL double-axis and
BASIC UNIVERSAL single-axis devices:
P-0-0074 Motor encoder used

Connected at 2):

operation without encoder ("open-loop" oper.)

--

motor encoder "digital servo feedback" of MHD, 2AD, EN1


ADF motors or GDS/GDM encoder
motor encoder of MAD, MAF motors (motor type code
field "encoder" = S0 or M0)

incremental encoder with sine signals (5 V supply, sig EN2


nal specification Heidenhain-compatible)
motor encoder of MAD, MAF motors (motor type code
field "encoder" = C0)

motor encoder of MKD, MKE motors

EN1

motor encoder of MSK motors (motor type code field ENS


"encoder" = S1 or M1), encoder with HIPERFACE in
terface1)

incremental encoder with square-wave signals (5 V


supply, signal specification Heidenhain-compatible)

motor encoder of MSK, MAD, MAF motors (motor type ENS


code field "encoder" = S2 or M2)

encoder with EnDat2.1 interface from Heidenhain (5 V EN2


supply)

10

resolver encoder (transfer ratio 0.5) without data mem EN1


ory

EN2

294/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0074 Motor encoder used
12

encoder combination:

Connected at 2):
EN2EN1

incremental encoder with square-wave signals (5 V


supply, signal spec. Heidenhain-compatible) and "Hall
sensor box SHL01.1" (5 V supply, signal spec. BRCcompatible)
13

encoder combination:

EN2ENS

incremental encoder with square-wave signals (5 V


supply, signal spec. Heidenhain-compatible) and "Hall
sensor" (12 V supply, signal spec. BRC-compatible)
14

encoder combination:

EN2EN1

incremental encoder with sine signals (5 V supply, sig


nal spec. Heidenhain-compatible) and "Hall sensor
box SHL01.1" (5 V supply, signal spec. BRC-compat
ible)
15

encoder combination:

EN2ENS

incremental encoder with sine signals (5 V supply, sig


nal spec. Heidenhain-compatible) and "Hall
sensor" (12 V supply, signal spec. BRC-compatible)
16

incremental encoder with sine signals (12 V supply,


signal specification Heidenhain-compatible)

ENS

18

incremental encoder with square-wave signals (12 V


supply, signal specification Heidenhain-compatible)

ENS

1)

It is only possible to use the HIPERFACE encoders released by Bosch Rexroth

2)

Designation of the required interface options of the control section of the controller

Fig.4-19:

Assignment of motor encoder to value of P-0-0074

In the case of BASIC UNIVERSAL single-axis devices, if the motor


encoder (P00077) is connected to the control section interface

"option 1", only the encoders listed under BASIC SERCOS /


BASIC PROFIBUS / BASIC ANALOG can be used!

"option 2", the encoders listed under BASIC SERCOS / BASIC


PROFIBUS / BASIC ANALOG cannot be used!

Allowed motor encoders for BASIC SERCOS / BASIC PROFIBUS / BASIC


ANALOG devices:
P-0-0074 Motor encoder used

Connected at 2):

operation without encoder ("open-loop" oper.)

--

motor encoder of MSK motors (motor type code field


"encoder" = S1 or M1), encoder with HIPERFACE in
terface1)

ENS

motor encoder of MSK, MAD, MAF motors (motor type ENS


code field "encoder" = S2 or M2)

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 295/1033


and Controls

Product-Specific Parameters
P-0-0074 Motor encoder used
16

Connected at 2):

incremental encoder with sine signals (12 V supply, sig ENS


nal specification Heidenhain-compatible)

1)

It is only possible to use the HIPERFACE encoders released by Bosch Rexroth

2)

Designation of the required interface options of the control section of the controller

Fig.4-20:

Assignment of motor encoder to value of P-0-0074

See also Functional Description "Motor, Mechanical Axis System, Measuring


Systems"
Use

Encoder input
Check the interface equipment via the circuit board identification parameters
P-0-1506 (option 1), P-0-1507 (option 2), P01508 (option 3), P-0-1512 (op
tion 4) or by means of the type designation of the control section (P01520,
Control section type)!
The encoder input for the motor encoder (including encoder com
binations) is determined in P00077, Assignment motor encoder>optional slot!
Motor dependence

For Rexroth housing motors (MHD, MKD, MKE, MSK) the cor
rect value is automatically written to this parameter!

For rotary and linear kit motors and for third-party motors, this
parameter must be set manually!

Attention for motor encoders with square-wave signals!


Do not use incremental encoders with square-wave signals as motor encoders!
When using incremental encoders with sine signals, the drive characteristics
are better than with square-wave signals!
P-0-0074 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.1.63

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
0 / 18
0 / 18
0 / 18

Default value
1
1
1

P-0-0075, Encoder type 2 (optional encoder)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter determines which encoder type is to be evaluated as optional


(external) encoder.
See also Functional Description "Motor, Mechanical Axis System, Measuring
Systems"

Use

Parameter P-0-0075 provides the following options to be selected:

296/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Connection
Value Function

CSH01.1C,CS
B01.1CCDB0
1.1C

CSB01.1N
FCCSB01.1N
ANCSB01.1N
PBCSB01.1N - SE

--

--

no encoder

GDS/GDM encoders by Bosch Rexroth

EN1

not possible

incremental encoder with sine signals (5 V supply, signal specification


Heidenhain-compatible)

EN2

not possible

resolver encoder (transfer ratio 0.5) with data memory

EN1

not possible

encoder with HIPERFACE interface1)

ENS

ENS

incremental encoder with square-wave signals (5 V supply, signal spec


ification Heidenhain-compatible)

EN2

not possible

motor encoder of MSK motors (motor type code field "encoder" = S2 or


M2)

ENS

ENS

SSI encoder (24V supply)

MD2

not possible

encoder with EnDat2.1 interface from Heidenhain (5 V supply)

EN2

not possible

10

resolver encoder (transfer ratio 0.5) without data memory

EN1

not possible

16

incremental encoder with sine signals (12 V supply, signal specification


Heidenhain-compatible)

ENS

ENS

18

incremental encoder with square-wave signals (12 V supply, signal spec


ification Heidenhain-compatible)

ENS

ENS

1)

It is only possible to use the HIPERFACE encoders released by Bosch Rexroth

2)

Designation of the required interface options of the control section of the controller

Fig.4-21:

Possible settings in P-0-0075

In the case of the control section CSB01.1C, if the external encoder


(P00078) is connected to the control section interface "option 1",
only the encoders listed under CSB01.1N-FC, CSB01.1N-AN,
CSB01.1N-PB, CSB01.1N-SE can be used! option 2", the encod
ers listed under CSB01.1N-FC, CSB01.1N-AN, CSB01.1N-PB,
CSB01.1N-SE cannot be used!
Check the interface equipment via the circuit board identification parameters
P-0-1506 (option 1), P-0-1507 (option 2), P01508 (option 3), P-0-1512 (op
tion 4) or by means of the type designation of the control section (P01520,
Control section type)!
The encoder input for the external encoder is determined in
"P00078, Assignment optional encoder ->optional slot"!
P-0-0075 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
0 / 18

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 297/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.1.64

0 / 18
0 / 18

0
0

P-0-0076, Encoder type 3 (measuring encoder)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter determines which encoder type is to be evaluated as optional


(external) encoder.
See also Functional Description "Motor, Mechanical Axis System, Measuring
Systems"
See also Functional Description "Measuring Encoder"

Use

Parameter P-0-0076 provides the following options to be selected:


Connection

Value Function

CSH01.1C,
CSB01.1C

CSB01.1N FC
CSB01.1N AN

CDB01.1C

CSB01.1N PB

--

--

CSB01.1N SE

no encoder

GDS/GDM encoders by Bosch Rexroth

EN1

not possible

incremental encoder with sine signals (5 V supply, signal specification Heiden


hain-compatible)

EN2

not possible

--

--

3
4

incremental encoder with square-wave signals (5V encoder with HIPERFACE


interface 1))

ENS

ENS

supply, signal specification Heidenhain-compatible

EN2

not possible

motor encoder of MSK motors (motor type code field "encoder" = S2 or M2)

ENS

ENS

SSI encoder (24V supply)

MD2

not possible

encoder with EnDat2.1 interface from Heidenhain (5 V supply)

EN2

not possible

--

--

10
16

incremental encoder with sine signals (12 V supply, signal specification Hei
denhain-compatible)

ENS

ENS

18

incremental encoder with square-wave signals (5 V supply, signal specification


Heidenhain-compatible)

ENS

ENS

1)

It is only possible to use the HIPERFACE encoders released by Bosch Rexroth

2)

Designation of the required interface options of the control section of the controller

Fig.4-22:

Possible settings in P-0-0076

298/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
In the case of the control section CSB01.1C, if the measuring en
coder (P00079) is connected to the control section interface "op
tion 1", only the encoders listed under CSB01.1N-FC, CSB01.1NAN, CSB01.1N-PB, CSB01.1N-SE can be used! option 2", the
encoders listed under CSB01.1N-FC, CSB01.1N-AN, CSB01.1NPB, CSB01.1N-SE cannot be used!
Encoder input
Check the interface equipment via the circuit board identification parameters
P-0-1506 (option 1), P-0-1507 (option 2), P01508 (option 3), P-0-1512 (op
tion 4) or by means of the type designation of the control section (P01520,
Control section type)!
The encoder input for the measuring encoder is determined in
"P00079, Assignment measuring encoder" ->optional slot!
P-0-0076 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.65

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 18
0 / 18
0 / 18

Default value
0
0
0

P-0-0077, Assignment motor encoder->optional slot


Allocation

Function
Use

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter determines which interface is destined for the motor encoder
connection.
ADVANCED
P-0-0077

Interface for the motor encoder connection

none

X4 (option 1)

X8 (option 2)

X10 (option 3)

Fig.4-23:

Determining the interface for the motor encoder

BASIC UNIVERSAL double-axis


P-0-0077

Interface for the motor encoder connection

none -> for both axes

X4.1 (option 1) only for axis 1

X4.2 (option 2) only for axis 2

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 299/1033


and Controls

Product-Specific Parameters
P-0-0077

Interface for the motor encoder connection

X8.1 (option 3) only for axis 1

X8.2 (option 4) only for axis 2

Fig.4-24:

BASIC UNIVERSAL single-axis

P-0-0077

Interface for the motor encoder connection

X8 (option 1)

X4 (option 2)

Fig.4-25:

Determining the interface for the motor encoder

BASIC SERCOS / BASIC PROFIBUS / BASIC ANALOG


P-0-0077

Interface for the motor encoder connection

X8 (option 1)

Fig.4-26:

Determining the interface for the motor encoder

Interface Equipment

In parameter P-0-0074, Encoder type 1 (motor encoder) the


controller is told which encoder type is to be evaluated as mo
tor encoder. The appropriate encoder input can be taken from
the documentation of the control section ("Project Planning
Manual")!

Check the interface equipment via the circuit board identifica


tion parameters "P-0-1506" (option 1), "P-0-1507" (option 2),
"P01508" (option 3), "P-0-1512" (option 4) or by means of
the type designation of the control section!

Motor Dependence

P-0-0077 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

In the case of motors with encoder data memory (MHD, MKD,


MKE, MSK), this parameter is automatically set correctly!

In the case of motors without encoder data memory (2AD,


ADF, rotary and linear kit motors), this parameter must be set
manually!

The combined encoder (for linear BRC kit motors) can only be
used with ADVANCED or BASIC UNIVERSAL double-axis
devices! The following values are required for P00077:

"1" for ADVANCED devices. Connect the incremental


measuring system to X4 (option 1 = "EN2"), the Hall sen
sor box to X8 (option 2 = "EN1").

"1" for axis1 and "2" for axis2 for BASIC UNIVERSAL
double-axis devices. Connect the incremental measuring
system to X4.1 (option 1 = "EN2"), the Hall sensor box
for axis1 to X8.1 (option 3 = "EN1") or the incremental
measuring system to X4.2 (option 2 = "EN2"), the Hall
sensor box for axis2 to X8.2 (option 4 = "EN1").

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

300/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.1.66

min./max.
0/1
0/4
0/3

Default value
0
0
1

P-0-0078, Assignment optional encoder ->optional slot


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

This parameter determines which interface is destined for the optional (exter
nal) encoder.
ADVANCED
P-0-0078

Interface for connection of ext. encoder

none

X4 (option 1)

X8 (option 2)

X10 (option 3)

Fig.4-27:

Determining the interface for the external encoder

BASIC UNIVERSAL double-axis


P-0-0078

Interface for connection of ext. encoder

none -> for both axes

X4.1 (option 1) only for axis 1

X4.2 (option 2) only for axis 2

X8.1 (option 3) only for axis 1

X8.2 (option 4) only for axis 2

Fig.4-28:

Determining the interface for the external encoder

BASIC UNIVERSAL single-axis


P-0-0078

Interface for connection of ext. encoder

X8 (option 1)

X4 (option 2)

Fig.4-29:

Determining the interface for the external encoder

BASIC SERCOS / BASIC PROFIBUS / BASIC ANALOG


P-0-0078
0

Fig.4-30:
Interface Equipment

MPD
MPD
MPD
MPD

Interface for connection of ext. encoder


X8 (option 1)

Determining the interface for the external encoder

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 301/1033


and Controls

Product-Specific Parameters

P-0-0078 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

In parameter P-0-0075, Encoder type 2 (optional encoder) the


controller is told which encoder type is to be evaluated as ex
ternal encoder. The appropriate encoder input can be taken
from the documentation of the control section ("Project Plan
ning Manual")!

Check the interface equipment via the circuit board identifica


tion parameters "P-0-1506" (option 1), "P-0-1507" (option 2),
"P01508" (option 3), "P-0-1512" (option 4) or by means of
the type designation of the control section!

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.67

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0/1
0/4
0/3

Default value
0
0
0

P-0-0079, Assignment measuring encoder ->optional slot


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter determines which interface is destined for the measuring en


coder.
ADVANCED
P-0-0079

Interface for the measuring encoder connection

none

X4 (option 1)

X8 (option 2)

X10 (option 3)

Fig.4-31:

Determining the interface for the external encoder

BASIC UNIVERSAL double-axis


P-0-0079

Fig.4-32:

Interface for the measuring encoder connection

none

X4.1 (option 1)

X4.2 (option 2)

X8.1 (option 3)

X8.2 (option 4)

Determining the interface for the measuring encoder

BASIC UNIVERSAL single-axis

302/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0079

Interface for the measuring encoder connection

X8 (option 1)

X4 (option 2)

Fig.4-33:

Determining the interface for the measuring encoder

BASIC SERCOS / BASIC PROFIBUS / BASIC ANALOG


P-0-0079

Interface for the measuring encoder connection

X8 (option 1)

Fig.4-34:

Determining the interface for the measuring encoder

Note:

In parameter P00079 the controller is told which encoder


type is to be evaluated as measuring encoder. The appropriate
encoder input can be taken from the documentation of the
control section ("Project Planning Manual").

Check the interface equipment via the circuit board identifica


tion parameters "P-0-1506" (option 1), "P-0-1507" (option 2),
"P01508" (option 3), "P-0-1512" (option 4) or by means of
the type designation of the control section!

See also Functional Description "Measuring Encoder"


P-0-0079 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.1.68

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0/1
0/4
0/3

Default value
0
0
0

P-0-0081, Parallel output 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
-
-

The content of P00081, Parallel output 1 is output at the digital outputs of the
optional cards "MD1" (7 outputs) or "MD2" (16 outputs).
By writing P-0-0081 (e.g. by means of MLD) the digital outputs can
be directly addressed.
See also Functional Description "Digital Inputs/Outputs"

Structure

The table below explains the significance of the individual bits:


The terminal assignment of MD1 and MD2 differs
(see Project Planning Manual for control sections)!

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 303/1033


and Controls

Product-Specific Parameters
Bit

Optional module MD1

Optional module MD2

Function

Function

Output 0.0

Output 0.0

Output 0.1

Output 0.1

Output 0.2

Output 0.2

Output 0.3

Output 0.3

Output 1.0

Output 1.0

Output 1.1

Output 1.1

Output 1.2

Output 1.2

Output 1.3

Output 1.3

not used

Output 2.0

not used

Output 2.1

10

not used

Output 2.2

11

not used

Output 2.3

12

not used

Output 3.0

13

not used

Output 3.1

14

not used

Output 3.2

15

not used

Output 3.3

Fig.4-35:
Use

Bits of P00081, Digital output 1

The following aspects apply as regards the use of this parameter:

The outputs have been put together in groups which are supplied sepa
rately (see Project Planning Manual for control sections).

group0: Output 0.x

group1: Output 1.x

...

The following points apply regarding the output:

Bit set ("1") At the assigned output a HIGH level (+24 V) is provided.

Bit not set ("0") At the assigned output a LOW level (0 V) is provi
ded.
Outputs which are not used always supply the value "0"!

P-0-0081 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

304/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.1.69

P-0-0082, Parallel input 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
-
-

The content of "P00082, Parallel input 1" maps the digital inputs of the option
MD1 (11 inputs) or MD2 (16 inputs).
By reading P-0-0082 (e.g. by means of MLD) the digital inputs can
be directly detected.
See also Functional Description "Digital Inputs/Outputs"

Structure

The table below explains the significance of the individual bits:


The terminal assignment of MD1 and MD2 differs
(see Project Planning Manual for control sections)!
Bit

Optional module MD1

Optional module MD2

Function

Function

Input 0.0

Input 0.0

Input 0.1

Input 0.1

Input 0.2

Input 0.2

Input 0.3

Input 0.3

Input 0.4

Input 0.4

Input 0.5

Input 0.5

Input 0.6

Input 0.6

Input 0.7

Input 0.7

Input 0.8

Input 1.0

Input 0.9

Input 1.1

10

Input 0.10

Input 1.2

11

Input 0.11

Input 1.3

12

not used

Input 1.4

13

not used

Input 1.5

14

not used

Input 1.6

15

not used

Input 1.7

Fig.4-36:
Use

Bits of P-0-0082, Digital input 1

The following aspects apply as regards the use of this parameter:

The inputs have been put together in groups which are supplied separately

group0: Input 0.x

group1: Input 1.x

The following points apply regarding the control at the inputs:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 305/1033


and Controls

Product-Specific Parameters

Bit set ("1") At the assigned input a HIGH level (+24 V) is provided.

Bit not set ("0") At the assigned input a LOW level (0 V) is provided.
Inputs which are not used always supply the value "0"!

P-0-0082 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.70

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0083, Gear ratio fine adjust


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

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:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
AT + MDT

Input
MPB:
MPD:
MPH:

4.1.71

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
6
set switchable: --

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

Default value
0,000000
0,000000
0,000000

P-0-0084, Number of bits per master axis revolution


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-synchronisation (ELS)

-
-
-
MPD

This parameter defines the resolution of a master axis revolution or a measuring


encoder revolution.

306/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Fig.4-37:

See also Functional Description "Synchronization Modes"


P-0-0084 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.72

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
16 / 31
16 / 31
16 / 31

Default value
20
20
20

P-0-0085, Dynamic angle offset


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

With this parameter it is possible to dynamically offset the effective master axis
position according to the following equation:

Fig.4-38:

Effective internal master axis position

Example:
Assumption: electronic gear 1:1 and fine adjust = 0
master axis velocity = 1000 rpm
dynamic angle offset = 100%
position loop Kv-factor (S-0-0104) = 1

Fig.4-39:

Example for calculating an effective internal master axis position

In this example the internal master axis position is offset by 2^20 incr.
The figure below illustrates the offset position command value and actual po
sition value with P00085 = 100%:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 307/1033


and Controls

Product-Specific Parameters

Fig.4-40:

Offset position command value and actual position value with


P00085 = 100%

This function is only available in the "cam shaft" mode.


P-0-0085 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Input
MPB:
MPD:
MPH:

4.1.73

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 600
0 / 600
0 / 600

Default value
0
0
0

P-0-0086, Configuration word synchronous operating modes


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Several basic settings for the synchronization modes are made by means of
this parameter.
See also Functional Description "Synchronization Modes"

308/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Structure

Bit

Designation/function

cam shaft distance switching


0: distance switching at distance switch angle/cam shaft
profile switching
1: distance switching immediately

gear switching
0: change becomes immediately effective
1: change is made at distance switching/cam shaft profile
switching

special case: clocked pull roll


0: clocked pull roll deactivated
1: clocked pull roll activated

reference for distance 1 and gear switching


0: reference for bits 0 and 1 is distance switching
1: reference for bits 0 and 1 is cam shaft profile switching

gear reduction path with cam shaft function


0: not active
1: active

type of interpolation cam shaft


0: cubic spline interpolation
1: linear interpolation

format cam shaft 1


0: last profile value for 360-d (old)
1: last profile value for 360 (new)

format cam shaft 2


0: last profile value for 360-d (old)
1: last profile value for 360 (new)

10

format cam shaft 3


0: last profile value for 360-d (old)
1: last profile value for 360 (new)

11

format cam shaft 4


0: last profile value for 360-d (old)
1: last profile value for 360 (new)

12

format cam shaft 5


0: last profile value for 360-d (old)
1: last profile value for 360 (new)

13

format cam shaft 6


0: last profile value for 360-d (old)
1: last profile value for 360 (new)

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 309/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

14

format cam shaft 7

Comment

0: last profile value for 360-d (old)


1: last profile value for 360 (new)
15

format cam shaft 8


0: last profile value for 360-d (old)
1: last profile value for 360 (new)

Fig.4-41:
Use

P-0-0086, Configuration word synchronous operating modes

Bit 0: Selecting whether new values for cam shaft distance (P00093) take
effect immediately or only when the cam shaft distance switch angle is
passed or when the cam shaft profile is switched.

Bit 1: Selecting whether new values for the electronic gear (P00156/
P00157) take effect immediately or only when the cam shaft distance
switch angle is passed or when the cam shaft profile is switched.

Bit 2: With bit 2 = 1 it is possible to change between cam shaft distance 1


(P00093) and cam shaft distance 2 (P00073), depending on the gra
dient of the cam shaft. If the gradient of the cam shaft profile is positive,
cam shaft distance 1 (P00093) is active, with negative gradient cam shaft
distance 2 (P00073) is active.

Bit 3: Determines the reference point for delayed acceptance of changes


(cam shaft distance switch angle or cam shaft profile switching).

The examples below explain the interaction of the bits:

P-0-0086 - Attributes

Bit3

Bit 0

Bit 1

Significance

A new electronic gear (P00156/P00157) takes immediate


effect. A new "P00093, Cam shaft distance" is only accepted
when "P00144, Cam shaft distance switch angle" is exceeded
in positive or negative direction.

A change of "P00093, Cam shaft distance" is immediately ac


cepted and so is a change of the electronic gear.

Bit 4: In the position synchronization modes "cam shaft" and "electronic


motion profile", a linear, phase-synchronous path can be activated with
this bit.

Bit 7: With infinite cam shafts, for which the modulo overflow does not take
place between initial value and final value of the cam shaft profile, it is
necessary to switch to linear interpolation.

Bits 8, 9, 10, 11, 12, 13, 14, 15: These bits indicate the format of the re
spective cam shaft profile (see P-0-0072, P-0-0092, P-0-0780 to
P00785). If a profile is to be used for the electronic motion profile, the
last profile value must be at the end angle and the corresponding bit must
have been set.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
StdNul / StdUMax

Default value
0

310/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.1.74

StdNul / StdUMax
StdNul / StdUMax

0
0

P-0-0087, Actual position value offset of measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The evaluation of the measuring encoder results in an actual position value of


the measuring encoder. The value is within a range defined by parameter
"P00765, Modulo factor measuring encoder".
With parameter "P00087, Actual position value offset of measuring encoder"
an offset can be added to the actual position.
See also Functional Description "Measuring Encoder"

Record of Modifications

P-0-0087 - Attributes

Version

Attribute

up to
MPx04V18

Cycl. tra.: no

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Incr
AT + MDT

Input

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
lERGP_MIN[] /
lERGP_MAX[]
lERGP_MIN[] /
lERGP_MAX[]
lERGP_MIN[] /
lERGP_MAX[]

MPB:
MPD:
MPH:

4.1.75

Comment

Default value
0
0
0

P-0-0088, Control word for synchronous operation modes


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Via this parameter it is possible to influence, i.e. to control, the execution of the
synchronous mode in the operating mode.
P-0-0088 can be configured in the cyclic command value telegram!
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 311/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

2..0

selection of active cam shaft

Comment

0 0 0: cam shaft 1 (P-0-0072)


0 0 1: cam shaft 2 (P-0-0092)
0 1 0: cam shaft 3 (P-0-0780)
0 1 1: cam shaft 4 (P-0-0781)
1 0 0: cam shaft 5 (P-0-0782)
1 0 1: cam shaft 6 (P-0-0783)
1 1 0: cam shaft 7 (P-0-0784)
1 1 1: cam shaft 8 (P-0-0785)
5, 4

active position synchronization mode


0 0: phase synchronization,
0 1: electronic cam shaft
1 0: electronic motion profile

7,6

selection of master axis


00: external virtual master axis (P-0-0053)
01: internal virtual master axis (P-0-0761)
1x: real master axis

repeated synchronization
With active synchronization mode, a bit toggle triggers re
peated synchronization.

set selection (electr. motion profile)


0: set 0
1: set 1

10

position data processing (electr. motion profile)


0: absolute
1: relative

Fig.4-42:
Use

P-0-0088, Control word for synchronous operation modes

Bit 0/1/2: The cam shaft profile is selected with bits 0 to bit 2; the profile
values are to be taken from this cam shaft profile in the cam shaft mode.
When the operating mode is active, the drive only accepts the preselec
tion, when the profile access angle exceeds P00094, Cam shaft switch
angle. The active cam shaft profile can be taken from bits 0, 1 and 2 of
parameter P00089, Status word for synchronous operating modes.

Bit 4,5: If the position synchronization mode is active, these bits specify
the kind of synchronization.

Bit 6,7: If the position synchronization or velocity synchronization mode is


active, these bits determine with which master axis the position or velocity
command values are generated. There are 3 options, external virtual
master axis, internal virtual master axis and real master axis.

Bit 8: With active position synchronization mode, toggling this bit causes
dynamic synchronization to be restarted.

Bit 9: This bit takes effect when the operating mode "electronic motion
profile" (analytically defined cam shaft) is active. One of the two possible
parameter sets is selected. Any change causes the parameter set to be

312/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
switched, when the master axis (profile access angle) passes the master
axis switching position (P-0-0700). The active set in acknowledged in bit 3
of P-0-0089, Status word for synchronous operating modes.

P-0-0088 - Attributes

Bit 10: This bit defines the processing mode in the operating mode "elec
tronic motion profile" (analytically defined cam shaft). In the case of
absolute processing, the sum of the distances of a set must be "0" or, in
the case of modulo position scaling, a multiple of the modulo value. In this
case, the slave axis initial position parameterized in P-0-0701 is reached
every time the master axis position (profile access angle) is "0". In the case
of relative processing, a motion step begins at the point where the previous
one ends.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.76

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0 / 0xffff
0 / 0xffff
0 / 0xffff

Default value
0
0
0

P-0-0089, Status word for synchronous operating modes


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter supplies important status information as regards the execution


of the synchronization modes and has to be considered in conjunction with
P-0-0086.
See also Functional Description "Synchronization Modes"

Structure

The status parameter is a bit list with the following structure:


Bit

Designation/function

2..0

feedback active cam shaft


0 0 0: cam shaft 1 active (P-0-0072)
0 0 1: cam shaft 2 active (P-0-0092)
0 1 0: cam shaft 3 active (P-0-0780)
0 1 1: cam shaft 4 active (P-0-0781)
1 0 0: cam shaft 5 active (P-0-0782)
1 0 1: cam shaft 6 active (P-0-0783)
1 1 0: cam shaft 7 active (P-0-0784)
1 1 1: cam shaft 8 active (P-0-0785)

active set (electronic motion profile)


0: set 0 active
1: set 1 active

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 313/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

position status of actual position value in actual value cycle

Comment

0: not homed
1: homed
5

status distance switching


0: current distance value not active
1: current distance value active

status positioning of P-0-0054


0: positioning active
1: positioning completed

acknowledgment master axis selection


0: virtual master axis active
1: real master axis active

synchronous mode in synchronization


0: slave axis has not been synchronized
1: slave axis has been synchronized

10, 9

active synchronous mode


00: phase synchronization,
01: electronic cam shaft
10: electronic motion profile

12

profile check carried out, set 0 (electronic motion profile)


0: not carried out
1: carried out

13

profile check ok, set 0 (electronic motion profile)


0: error or not carried out
1: without error

14

profile check carried out, set 1 (electronic motion profile)


0: not carried out
1: carried out

15

profile check ok, set 1 (electronic motion profile)


0: error or not carried out
1: without error

Fig.4-43:
Use

P-0-0089, Status word for synchronous operating modes

When using/interpreting the parameter, observe the following aspects:

Bit 0/1/2: With the bits 0/1/2 of this parameter the drive signals from which
cam shaft profile the profiles are taken.

Bit 3: Indicates which of the two sets of the electronic motion profile is
active.

Bit 4: Bit 4 displays the position status of "P00753, Position actual value
in actual value cycle". If the position status equals zero, absolute syn
chronization can take place.

314/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Bit 5: When a new cam shaft distance 1 is parameterized in P00093,


bit 5 is cleared. When the new value is accepted as active cam shaft dis
tance, bit 5 is set to "1".

Bit 6: The additive master axis position (P-0-0054) is traveled with a 2nd
order interpolator. During the travel motion this bit is "0". It is set to "1"
when the interpolator has reached the final value.

Bit 7: Acknowledges the master axis selection (virtual/real).

Bit 8: Indicates whether the axis is within the synchronization window or


not. According to the operating mode, there are different conditions.

Velocity synchronization: Bit 8 = 1, if | dX synch + dX additive dX act |


< S-0-0183 with dXact: S-0-0040, Velocity feedback value dXsynch:
synchronous velocity command value, generated from current mas
ter axis speed dXadditive: S-0-0037, Additive velocity command value

Phase synchronization or cam shaft Bit 8 = 1, if | X synch + X additive


X act | < S-0-0228 with Xact: act. position value S-0-0051 or S-0-0053
Xsynch: synchronous position command value

Xadditive: additive position cmd value, S-0-0048

P-0-0089 - Attributes

Bit 9/10 : In the position synchronization mode, acknowledges the selec


tion of the operating mode by bits 4/5 of "P-0-0088, Control word for
synchronous operation modes".

Bit 12/13: For set 0 of the electronic motion profile. Bit 12 indicates whether
the profile parameterized in set 0 has been checked. The result of the
check then has to be taken from bit 13. Parameter "P-0-0702, Motion pro
file, diagnosis, set 0" contains more detailed information on negative
check results.

Bit 14/15: For set 1 of the electronic motion profile. Bit 14 indicates whether
the profile parameterized in set 1 has been checked. The result of the
check then has to be taken from bit 15. Parameter "P-0-0709, Motion pro
file, diagnosis, set 1" contains more detailed information on negative
check results.

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.1.77

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0 / 0xffff
0 / 0xffff
0 / 0xffff

Default value
-------

P-0-0090, Travel range limit parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines the signal behavior of the travel range limit switch inputs
and the behavior of the drive with regard to exceeded travel ranges.
See also Functional Description "Position Limitation/Travel Range Limit Switch"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 315/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

Comment

signal behavior travel range limit switch inputs


0: not inverted, 24 V => travel range is exceeded
1: inverted, 0 V => travel range is exceeded

activation of travel range limit switch


0: no
1: yes

handling when travel rangeexceeded


0: as error (acc. to error reaction)
1: as fatal warning (shutdown)

Fig.4-44:
P-0-0090 - Attributes

4.1.78

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of P-0-0090, Travel range limit parameter


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

Input
MPB:
MPD:
MPH:

min./max.
0/7
0/7
0/7

Default value
0
0
0

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

P-0-0091,
Allocation

Function

-
-
-
MPD

This parameter displays the status of position limitation and travel range limit
switch monitoring. The status is 0, when the corresponding monitoring function
was deactivated.
See also Functional Description "Position Limitation/Travel Range Limit Switch"

Structure

Bit

Designation/function

Comment

0: positive position limit value not exceeded


1: positive position limit value exceeded

0: negative position limit value not exceeded


1: negative position limit value exceeded

0: positive travel range limit switch not exceeded


1: positive travel range limit switch exceeded

0: negative travel range limit switch not exceeded


1: negative travel range limit switch exceeded

Fig.4-45:
P-0-0091 - Attributes

Function: Par
Memory: --

Relevant bits of P-0-0091, Position/travel range limit status


Editability:
Validity ch.:

nein
--

Data length:
Format:

2Byte
BIN

316/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: AT

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.1.79

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0092, Cam shaft profile 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Parameter P00092 contains a profile with data points tab () for the profile of
cam shaft 2.
See also Parameter Description "P-0-0072, Cam shaft profile 1"
Rexroth IndraDrive supports up to 8 cam shaft profiles which can be divided
into the following groups:

4 cam shaft profiles with 3 to 1024 data points (P-0-0072, P-0-0092,


P-0-0780, P-0-0781)

4 cam shaft profiles with 3 to 128 data points (P-0-0782, P-0-0783,


P-0-0784, P-0-0785)
The individual data points of the profile are interconnected by
means of cubic spline interpolation.

See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"
P-0-0092 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
FIX_IDN_SP Validity ch.:
%
Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.1.80

PM+OM
-+
--

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
6
set switchable: --

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

Default value
-------

P-0-0093, Cam shaft distance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter determines the cam shaft distance with which the profile of the
cam shaft is multiplied.
See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 317/1033


and Controls

Product-Specific Parameters
P-0-0093 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: AT + MDT

Extr. val. ch.:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.1.81

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
360,0000
360,0000
360,0000

P-0-0094, Cam shaft switch angle


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

When the master axis position exceeds this angle in position or in negative
direction, switching to that cam shaft profile takes place which was preselected
by parameter "P00088, Control word for synchronous operation modes".
The parameter "P00089, Status word for synchronous operating modes" then
is set to the activated cam shaft profile. When the drive is initialized for the first
time, the cam shaft set in P00088 is activated. In this case, too, the parameter
P00089 is set.
See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"

P-0-0094 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Deg
AT + MDT

Input
MPB:
MPD:
MPH:

4.1.82

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / 360,0000
0,0000 / 360,0000
0,0000 / 360,0000

Default value
0,0000
0,0000
0,0000

P-0-0095, Absolute encoder monitoring window for motor encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

When switching on a drive with an absolute motor encoder, a check is run to


determine whether the current actual position value differs from the actual po
sition value at the time of the last switch off. If the difference exceeds the value
determined in this parameter, the "F2074 Actual pos. value 1 outside absolute
encoder window" error message is output.
When switching the drive off, the current encoder data of the absolute motor
encoder are saved in "P00177, Absolute encoder buffer of motor encoder".

318/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The monitor can be switched off by writing the value "0" to this pa
rameter.
See also Functional Description "Monitoring the Measuring Systems"
Record of Modifications

P-0-0095 - Attributes

Version

Attribute

GEN-02VRS

Editability: P2

GEN-02VRS

Validity ch.: P2-3

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.1.83

Comment

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
1,0000
1,0000
1,0000

P-0-0096, Absolute encoder monitoring window for opt. encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

When switching on a drive with an absolute optional (external) encoder, a check


is run to determine whether the current actual position value differs from the
actual position value at the time of the last switch off. If the difference exceeds
the value determined in this parameter, the "F2075 Actual pos. value 2 outside
absolute encoder window" error message is output.
When switching the drive off, the current encoder data of the absolute encoder
are saved in "P00178, Absolute encoder buffer of optional encoder".
The monitor can be switched off by writing the value "0" to this pa
rameter.
See also Functional Description "Monitoring the Measuring Systems"

Record of Modifications

P-0-0096 - Attributes

Version

Attribute

GEN-02VRS

Editability: P2

GEN-02VRS

Validity ch.: P2-3

Comment

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
1,0000

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 319/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.1.84

S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

1,0000
1,0000

P-0-0097, Absolute encoder monitoring window for measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

When switching on a drive with an absolute measuring encoder, a check is run


to determine whether the current actual position value of the encoder differs
from the actual position value at the time of the last switch off.
If the difference exceeds the value determined in this parameter, the error
message "F2076 Actual pos. value 3 outside absolute encoder window" is out
put. When switching the drive off, the current encoder data of the absolute
encoder are saved in "P00178, Absolute encoder buffer of optional encoder".
See also Functional Description "Measuring Encoder"

P-0-0097 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Incr
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.1.85

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
MinULong / MaxLong
MinULong / MaxLong
MinULong / MaxLong

Default value
100
100
100

P-0-0098, Max. model deviation


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

If an operating mode with drive-internal position control has been activated in


the drive, the position control loop is monitored. To do this, an "actual position
model value" is calculated and compared to the real actual position value (cf.
S00051 and S00053).
For determining the "actual position model value" you have to distinguish be
tween two cases:

Position control (or interpolation) with lag distance In these cases the real
actual position value is corrected by

the systematic lag error ( 1/kv) and

a value that is possibly contained in "S00037, Additive velocity


command value" and the "actual position model value" is generated
from the corrected value.

Lagless position control (or interpolation) In these cases the real actual
position value is corrected by

a value that is possibly contained in "S00037, Additive velocity


command value" and the "actual position model value" is generated
from the corrected value.

320/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
In both cases the generated "actual position model value" is compared with the
real actual position value (cf. S00051 and S00053) and the maximum devi
ation between the calculated actual position model value and the real actual
position value is stored in the "P00098, Max. model deviation" parameter.
To help parameterizing "S00159, Monitoring window", the user
can read the parameter. To do this it is advisable to reset the pa
rameter to "0" before starting a "test run"!
See also Functional Description "Position Control with Cyclic Command Value
Input"
P-0-0098 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.1.86

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
-------

P-0-0099, Position command smoothing time constant


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The position command smoothing time constant determines the maximum jerk
possible in the case of operating modes with position control.
The maximum jerk is calculated from:

Fig.4-46:

Maximum jerk

The "P00099, Position command smoothing time constant" pa


rameter is only effective with the linear fine interpolator having been
activated (P00187 = 0). The filter is deactivated by writing the val
ue 0 to this parameter.
See also Functional Description "Command Value Processing in Position Con
trol"
P-0-0099 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,00 / 655,35

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: -Default value
0,00

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 321/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.1.87

0,00 / 655,35
0,00 / 655,35

0,00
0,00

P-0-0100, Position command value extension


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The parameter "P00100, Position command value extension" extends the


parameter "S00047" 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:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

PM+OM
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.2

P-0-0101 - P-0-0200 General Functions

4.2.1

P-0-0101, Configuration for starting lockout selector


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

In parameter "P00101, Configuration for starting lockout selector" it is possible


to configure the selection of the activation circuit of the starting lockout.
Bit

Designation/function

0: N/C-N/O combination

Comment

1: N/C-N/C combination
7..1

reserved

diagnosis for selection under AF


0: diagnosis with fatal error F8027
1: diagnosis with fatal warning E8027

Fig.4-47:
P-0-0101 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

as of
GEN-03V24as of
GEN-04V14

P00101, Configuration for starting lockout selector


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0

322/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.2.2

--- / ----- / ---

P-0-0102, Oper. hours power section at last activat. of start. lockout


Allocation

Function

Record of Modifications

P-0-0102 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

Parameter "P00102, Oper. hours power section at last activat. of start. lock
out" displays the operating hours of the power section since the last time the
starting lockout function was deselected.
Version

Attribute

Comment

GEN-02VRS

Memory: ON_BOARD_SP

as of GEN-02V26
RETAIN_DEVICE

GEN-03VRS

Memory: ON_BOARD_SP

as of
GEN-03V16RETAIN_DEVICE

Function: Par
Editability:
RETAIN_GER
Memory:
Validity ch.:
AET
Unit:
s
Extr. val. ch.:
Cycl. tra.: -Comb. check:
Input
MPB:
MPD:
MPH:

4.2.3

0
0

nein

Data length:

4Byte

PM->OM

Format:

DEC_OV

---

Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0,0
0,0
0,0

P-0-0103, Time interval of forced dynamization


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

Function

"P00103, Time interval of forced dynamization" is used to set the time interval
for the life counter. This defines the time interval in which the starting lockout
has to be activated with active drive controller.

Use

Setting drive enable starts the life counter which runs as long as the drive is in
control. When drive enable is reset, the life counter is stopped and the current
value is stored.
The life counter is only reset when the starting lockout is selected
again; the value is maintained even after the drive controller was
switched off.

P-0-0103 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 323/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.2.4

min./max.
1,0 / 604800,0
1,0 / 604800,0
1,0 / 604800,0

P-0-0104, Change history time interval of forced dynamization


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

Function

A history of the time intervals set by the user in "P00103, Time interval of
forced dynamization" is stored in parameter "P00104, Change history time
interval of forced dynamization".

Use

The last six values are displayed. In addition, the count of the operating hours
counter of the power section, at which the change took place, is stored.

P-0-0104 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
s
Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.2.5

Default value
28800,0
28800,0
28800,0

nein
----

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0105, Time stamp for list of diagnostic message numbers


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains a list of the points of time at which the diagnostic drive
message was changed. At each change of "S00390, Diagnostic message
number" the respective point of time (value from "P00190, Operating hours
control section") is recorded. The last point of time at which the diagnostic
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.
The list from P00105 corresponds with "S00375, List of diagnostic numbers".
These parameters in the same line contain the diagnostic message number
corresponding to the respective point of time.
The numbers of the diagnostic error messages and the respective
points of time of the error events are only accepted in S00375 and
P00105 by clearing the error message!

P-0-0105 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-s
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

324/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.2.6

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0106, Operating status of starting lockout


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

This parameter makes available binary status signals of the current status of
starting lockout.
See also Troubleshooting Guide for "F3130 Error when checking input signals"
See also Functional Description "Integrated Safety Technologie "

Structure

The individual bits of the parameter have the following significance:


Bit

Designation/function

1...0

operating status of starting lockout


00: starting lockout not active (activated only during first
progression to P4)
01: normal operation ("NO")
10: starting lockout active ("AS")

7..2

reserved

9,8

safety technology error


00: no error
01: disconnection on error by starting lockout channel 1
10: disconnection on error by starting lockout channel 2
11: disconnection on error by starting lockout channels 1
and 2

11,10

reserved

12

status of selection signals


0: selection signals stable
1: change of selection signals has taken place

13

validity of selection signals


0: selection signals valid
1: selection signals faulty

14

level of use
0: free use of starting lockout, as tested firmware avail
able
1: restricted use of starting lockout, test version, no firm
ware test has been carried out
autom. switched off after a max. of 30 min.!

15

Fig.4-48:

reserved

P00106, Operating status of starting lockout

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 325/1033


and Controls

Product-Specific Parameters
Use

P-0-0106 - Attributes

In the case of a validation error of the selection signals (bit 13), it is possible to
recognize by means of the safety technology error (bits 8/9), whether:

the signals of channel 1 and channel 2 are different (disconnection on error


by starting lockout channel 2)

the signals on channel 1 are faulty or do not match the selector configu
ration of P00101 (disconnection on error by starting lockout channel 1)

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.2.7

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0108, Master drive polarity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

By means of this parameter it is possible to invert the polarity of the master axis
position. Thereby an inverting electronic gear is realized.
See also Functional Description "Synchronization Modes"

Structure

Bit

Designation/function

master axis position

Comment

0: positive polarity
1: negative polarity

Fig.4-49:
P-0-0108 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-0108, Master drive polarity


Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.2.8

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0/1
0/1
0/1

Default value
0
0
0

P-0-0109, Torque/force peak limit


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Torque/force limit value that acts on the sum of all torque/force command val
ues:

326/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

command values from the acceleration feedforwards (S00348,


P01126)

command values from the velocity controller (P00049)

See also Functional Description "Torque/Force Limitation"


Use

The parameter acts in a bipolar way, i.e. positive and negative command values
are limited to the entered value. The parameter cannot be cyclically written and
is therefore used to absolutely determine the maximum allowed drive torque or
the maximum allowed drive force
The unit for the values of this parameter depends on the scaling that has been
set ("S00086, Torque/force data scaling type").
The effective limit value is displayed in "P00444, Actual value
peak torque limit". This value can be lower than P00109 if, for
example, the value of S00092 is lower than the one of P00109
or if a load-dependent current limitation by motor or controller is
active.

P-0-0109 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0086

Cycl. tra.: --

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

4.2.9

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: +

min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
400,0
400,0
400,0

P-0-0114, Undervoltage threshold


Allocation

Function
Use

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

With this parameter it is possible to determine and activate an individual un


dervoltage threshold, differing from the standard value, for the DC bus voltage.
Effect of P-0-0114 on CV and IV
Converters (CV) and inverters (IV) can have master or slave function as regards
the module bus. This is determined by the respective bit of "P-0-0860, Con
verter configuration" or "P-0-0118, Power supply, configuration":

module bus master (operating principle like for a supply unit (SU) which
actively makes available status information regarding readiness for oper
ation and readiness for power output via the module bus for the axes of a
drive system)

module bus slave (behaves like an IV which reacts to the status informa
tion regarding readiness for operation and readiness for power output of
the module bus)
When an IV is connected to a third-party supply unit, the module
bus master function is missing! In this case, an IV can assume the
module bus master function!

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 327/1033


and Controls

Product-Specific Parameters
Effect of P-0-0114 regarding module bus master
Devices with module bus master function
current voltage level of DC bus "UZK"

SU

when P-0-0114 < 0,75*Netz:

(P-0-0114is
not available
for SU)

(P-0-0114 has no effect in this case,


default value is "0"!)

CV

IV (activated in
P-0-0118)

UZK < P-0-0114 < 0,75*Netz

DC bus not ok -

P-0-0114 < UZK < 0,75*Netz

DC bus not ok -

P-0-0114 < 0,75* Netz < UZK

DC bus ok

when 0,75*Netz < P-0-0114 :


(P-0-0114 acts as individual undervolt
age threshold!)
UZK < 0,75*Netz < P-0-0114

DC bus not ok -

0,75*Netz < UZK < P-0-0114

DC bus not ok -

0,75*Netz < P-0-0114 < UZK

DC bus ok

Uzk < P-0-0114

DC bus not ok

P-0-0114 < Uzk

DC bus ok 1)

when Netz is unknown due to thirdparty supply unit:

1) only

when third-party supply unit signals "ready for power output"!

Netz

nominal mains voltage crest value

Fig.4-50:

Influence of P-0-0114 on the status message "DC bus ready for power
output" (DC bus ok) with module bus master function

The nominal mains voltage crest value (determined at switch-on)

is displayed in "P00815, Nominal mains voltage crest value"


in the case of CVs,

cannot be displayed for SUs,

is unknown for IVs (module bus master!).

Effect of P-0-0114 regarding module bus slave


Devices with module bus slave function
current voltage level of DC bus "UZK"

IV
CV (in IV operation)

when P-0-0114 < UZK_ok:


(P-0-0114 has no effect in this case!)
UZK < P-0-0114 < UZK_ok

E2026 or F20261)

P-0-0114 < UZK < UZK_ok

E2026 or F20261)

UZK_ok < UZK

drive ready ("Ab")

328/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Devices with module bus slave function
current voltage level of DC bus "UZK"

IV
CV (in IV operation)

when UZK_ok < P-0-0114 :


(P-0-0114 acts as individual undervolt
age threshold!)
UZK < UZK_ok < P-0-0114

E2026 or F20261)

UZK_ok < UZK < P-0-0114

E2026 or F20261)

UZK_ok < P-0-0114 < UZK

drive ready ("Ab")

when P-0-0114 = 0:
(default value, P-0-0114 has no effect)
UZK < UZK_ok

E2026 or F20261)

UZK_ok < UZK

drive ready ("Ab")

1) "E2026

Undervoltage in power section" or "F2026 Undervoltage in power section"


depend on "P-0-0118, Power supply, configuration", setting regarding "behavior in the
case of undervoltage in DC bus"
UZK_ok

Fig.4-51:

value of DC bus voltage as of which SU signals "ready for power output"

Readiness for power output for devices with module bus slave function
depending on P-0-0114

Parameterization
Standard value (default): P-0-0114 = 0 or Individual: P-0-0114 < 75% of nom.
mains voltage crest value i.e. the undervoltage threshold is 75% of nominal
mains voltage crest value.
Individual: P-0-0114 > 75% of nominal mains voltage crest value, i.e. the input
value is the active undervoltage threshold in Volt.
P-0-0114 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V
--

Input
MPB:
MPD:
MPH:

4.2.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 500
0 / 500
0 / 500

Default value
0
0
0

P-0-0115, Device control: status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to read the drive status (device con
trol), independent of the master communication that is used.
See also Functional Description "Operating Modes"
See also Functional Description "Master Communication"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 329/1033


and Controls

Product-Specific Parameters
See also Functional Description "Drive Halt"
Structure

The individual bits have the following significance:


Bit

Designation/function

BB relay

Comment

1: control BB relay (ready for switching power on)


1

ready signal
1: drive ready (ready for power output)

drive warning
1: warning (class 2 diagnostics) is present

status of ext. cmd val. processing (primary mode of oper.


+ secondary oper. modes 1-7)
0: drive ignores (ext.) command value input
1: drive follows (ext.) command value input

Drive Halt acknowledgment


1: Drive Halt is active and axis is in standstill

command change bit


0: no change in command status
1: command status has changed

status of int. cmd val. processing (secondary oper.


modes 8-15 of PLC)
0: drive ignores (int.) command value input of PLC
1: drive follows (int.) command value input of PLC

operating mode initialized


1: primary mode of oper. or secondary oper. mode active
and initialization completed, otherwise 0

11/10/
9/8

actual operating mode


0000: primary mode of oper. is active
0001: secondary oper. mode 1 is active
0111: secondary oper. mode 7 is active
1000: 1st internal secondary oper. mode is active
1111: 8th internal secondary oper. mode is active

12

command value reached


1: drive has reached command value input (The gener
ation of the bit depending on the active oper. mode is
described below.)

as of MP*04VRS

330/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

13

drive error

Comment

0: no error
1: drive error
15/14

ready for operation


00: control section / power section not ready for opera
tion (e.g. drive error or phase 2)
01: control section ready for operation ("bb")
10: control section and power section ready for op.
("Ab")
11: drive with torque ("AF")

Fig.4-52:
Use

Status word of system control

Detailed information regarding command value processing (bit 3, 6)


The secondary operating modes 4-7 can only be used via SERCOS interface
and the secondary operating modes 8-15 (internal secondary operating modes
1-8) can only be used with the internal PLC (IndraMotion MLD-S)!
By combining bit 3 and bit 6, the following cases can be unequivocally distin
guished:
Bit 6

Bit 3

Status

Comment

drive carries out internal error reaction

Only in the case of


error!

drive follows command value of external control normal operating


unit in active operating mode
status

internal PLC controls drive via an MC function


block

not possible

Fig.4-53:

Cases to be distinguished for bit 3 and bit 6

In the easy startup mode, bit3 = 1 and bit6 = 0 are set, too, as the
drive follows the command value input in this case!
Detailed information regarding bit 12 "command value reached"
As described in the table below, bit 12 "command value reached" is generated
depending on the active operating mode:
Active operating mode

Bit 12 "command value reached"

none

torque control

no message

velocity control

n_act = n_cmd (S-0-0330)

cycl. position control

IN_POSITION (S-0-0336)

drive-internal interpolation

IN_TARGET POSITION (S-0-0437, bit 1)

drive-controlled positioning

IN_TARGET POSITION (S-0-0338 or S-0-0437,


bit 2: IZP)

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 331/1033


and Controls

Product-Specific Parameters
positioning block mode

end position reached (P-0-4061, bit 4) S-0-0338


In_Target Position && no sequential block

position and velocity synchroniza In Synchronization (P-0-0089, bit 8)


tion
P-0-0115 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.2.11

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0116, Device control: control word


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter indicates whether the master communication has activated the
drive.
Bit

Designation/function
command operating mode

Comment

000: primary mode of opera


tion
8/9/11

001: secondary oper. mode


1
bit 11 available as of MPx03
010: secondary oper. mode
2
111: secondary oper. mode
7, etc.
Drive Halt

13

0: Drive Halt active. The


drive was decelerated while
maintaining the maximum
acceleration (S00138), if
bits 14 and 15 were "1" at 1>0.
1: Drive Halt inactive

332/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function
drive enable

Comment

0: Drive enable inactive.The


drive torque was switched off
without delay, if drive was ac
tive at 1->0.

14

1: drive enable active


Drive ON
0: Drive ON inactive. Drive
was decelerated in the best
possible way, if bit 14 was "1"
at 1->0.

15

1: drive On active

Fig.4-54:
Use

Relevant bits of P-0-0116

The control bits contained in parameter P00116 are also contained in the
control words depending on the master communication (cf. S00134,
P04077, P04068 and P04028) and can therefore be written via the control
words.
As of version MPx03VRS the secondary operating modes 4-7 can
only be used via SERCOS interface. This is why bit 11 only takes
effect in P00116 in conjunction with S00134!

P-0-0116 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.2.12

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0117, Activation of control unit reaction on error


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Up to MPx04VRS: P-0-0117, Activation of NC reaction on error


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 (ex
ternal 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 control unit in
the case of error.
When the 30 seconds are over, the error reaction set in "P00119,
Best possible deceleration" is carried out.
See also Functional Description "NC Reaction on Error"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 333/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

NC error reaction

Comment

0: deactivated
1: activated
1

MLD error reaction

as of MP*04VRS

0: deactivated
1: activated

Fig.4-55:
Use

P-0-0117, Activation of NC reaction on error

The following has to be observed for using the function:

Using the NC error reaction is only possible in case non-fatal errors


(F2xxx, F3xxx) occur!

Using the MLD error reaction is only possible in case non-fatal errors
(F2xxx, F3xxx) or interface errors (F4xxx) occur!

The MLD error reaction is only possible via IndraMotion MLD (drive PLC)
when the functional package ("ML") has been activated. When a non-fatal
error occurs, the error reaction can also be carried out by an external con
trol unit.

NC error reaction and MLD error reaction cannot be selected simultane


ously.
The MLD error reaction is only carried out when the functional
package ("ML") has been activated.

P-0-0117 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.2.13

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0118, Power supply, configuration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In parameter P00118 settings with regard to error messages and error reac
tions are made for drives that are interconnected via the DC bus and the module
bus ("drive system"). In addition, the handling of DC bus undervoltage is de
termined.
The DC bus voltage (power bus) for the "drive system" in operation
is not switched off in the case of non-fatal drive errors!
See also Functional Description "Power Supply"

Structure

The individual bits of the parameter have the following significance:

334/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

Comment

package reaction (power off on error)


0: no reaction ("package reaction")
1: reaction ("package reaction"): "best possible deceleration" (see P00119), diagnostic message
E8058
Exception: In the case of braking resistor overload, power is always switched off!

signaling of own drive errors


This bit determines whether a drive signals its own errors via the module bus in the drive system.
0: no signaling: no "package reaction" triggered in the case of error ("passive axis"), power on of
supply unit is possible independent of drive status
1: signaling: "package reaction" triggered in the case of error ("active axis"), power on of supply
unit only with readiness for operation ("Bb")

5-3

behavior in the case of undervoltage in DC bus or mains failure


These bits determine how the drive reacts to undervoltage in the DC bus.
000: non-fatal error (F2026 / F2819) "best possible deceleration" (cf. P00119)
001: fatal warning (E8026 / E8819) motive torque switched off
100: non-fatal warning (E2026 / E2819) no error reaction of drive

automatic clearing
of "F2026 Undervoltage in power section"
0: no, error has to be cleared (cf. S00099)
1: yes, error is cleared by switching drive enable off and on (cf. P00116, bit 15)

power off in the case of fatal errors (F8xxx)


This bit determines whether the drive initiates power off via the module bus in the case of fatal
errors.
0: no signaling via the module bus
1: signaling via the module bus, causes power off

15

reserved

Fig.4-56:
P-0-0118 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of P-0-0118, Power supply, configuration


Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.2.14

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
3
3
3

P-0-0119, Best possible deceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

This parameter determines the way the drive is decelerated.

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 335/1033


and Controls

Product-Specific Parameters
See also Functional Description "Error Reactions"
See also Functional Description "Best Possible Deceleration"
Structure

Con
Comment
Error reaction
tent
bit velocity command value reset (emergency halt)
As of MPX05 tor
3-0 =
The controlled servo motor is decelerated taking the "P- que limitation to
0
x-0109, Torque/force peak limit" into account (vcmd = 0). P-0-0109.
Up to MPX05 de

In the case of open-loop U/f control, the deceleration at the


celeration with
torque limit only takes place, when the stall protection loop
the smaller value
has been activated (cf. "P00045, Control word of current
from S-0-0092,
controller"). The maximum deceleration is set by the value
S-0-0082,
entered in "P00569, Maximum stator frequency slope".
S-0-0083,
The maximum braking time to be expected under the most un P-0-0109.
favorable operating conditions is input in "S-0-0273, Maximum
drive off delay time". After S-0-0273 is over:

In the case of servo drives ("servo brake" function,


P-0-0525), the holding brake is activated and drive enable
is internally switched off after "S-0-0207, Drive off delay
time".

In the case of 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.
bit torque disable
3-0
In the case of servo drives ("servo brake" function,
=1
P-0-0525), the holding brake is immediately activated.

In the case of main spindle drives ("main spindle brake"


function, P-0-0525), the holding brake remains released.
bit velocity command value reset with ramp and filter (quick stop)
3-0 = The drive is decelerated with the ramp "S-0-0372, Drive Halt
2 acceleration bipolar" and the jerk filter "S-0-0349,Jerk limit
bipolar" (vcmd = 0).

Note: The maximum deceleration is given by the value entered


in "P-0-0569, Maximum stator frequency slope".
bit return motion
The return mo
3-0
tion is only avail
=3 The drive generates a position command value profile, in order able in connec
to move by the desired travel distance, if an error occurs. If an tion with the ex
error occurs, a relative process block is activated that is defined pansion package
by the parameters "P00055, Return distance", "P00056, Re "SRV" (see Ena
turn velocity", "P00057, Return acceleration" and "P-0-0058, bling of Function
Return jerk".
al Packages)!
bit velocity command value reset (emergency halt) while maintain as of MPx05
3-0 = ing max. acceleration S00138
4 1: emergency halt at the acceleration limit

336/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
bit error reaction for errors of category F6xxx/F7xxx and E6xxx ve as of MPx05
7-4 = locity command value reset (emergency halt)
0
The controlled servo motor is decelerated taking the "Px-0109, Torque/force peak limit" into account (vcmd = 0).

In the case of open-loop U/f control, the deceleration at "Px-0109, Torque/force peak limit" only takes place, when
the stall protection loop has been activated (cf. "P00045,
Control word of current controller"). The maximum decel
eration is given by the value entered in "P-0-0569, Maxi
mum stator frequency slope".

bit
as of MPx05
error reaction for errors of category F6xxx/F7xxx with torque
7-4 =
cannot be com
disable
1
bined with 0, 2, 3

In the case of servo drives ("servo brake" function,


and 4 in bit 0 - 3
P-0-0525), the holding brake is immediately activated.
and with

In the case of main spindle drives ("main spindle brake"


P-0-3210, bit 9 =
function, P-0-0525), the holding brake remains released.
0
bit error reaction for errors of category F6xxx/F7xxx and E6xxx ve as of MPx05 can
7-4 locity command value reset
not be combined
=4 while maintaining the max. acceleration "S-0-0138, Bipolar ac with 0 in bit 0-3
celeration limit value"

Fig.4-57:
Use

Setting the way the drive is shut down with the above criteria

Bit 3..0: describes the behavior in the case of:

non-fatal errors (F2xxx)

interface errors (F4xxx)

non-fatal safety technology errors (F3xxx)

reset of communication phase

disabling of drive enable (cf. S-0-0134 resp. P-0-4077 or P-0-0115, bit15)

Bit 7..4: describes the behavior in the case of:

Record of Modifications

P-0-0119 - Attributes

limit switch errors and reaction to errors of safety technology (F6xxx and
F7xxx)

reaction to fatal warnings which react with velocity command value reset
(e.g. E8034, E6044)

Version
up to MPx04VRS
up to MPx04VRS
up to MPx04VRS
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Attribute
Format: DEC_OV
MPx Max Value: 4
Extr. val. ch.: yes
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.2.15

Comment

PM
PM->OM
-+

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0120, Control word easy startup


Allocation

Contained in 02VRS:
Contained in 03VRS:

-
-

-
-

-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 337/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

-
-
MPB
MPH
-"open loop", "closed loop"

-
MPD

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.
See also Functional Description "Master Communication"
See also Functional Description "Initial Start in Easy Startup Mode"
See also Functional Description "Operating Modes"

Structure

Bit

Designation/function

Comment

12/1 command operating mode


1/9/ 10x00: internal secondary oper. mode (velocity control)
8
10x01: internal secondary oper. mode (torque control)

Bit 12 is auto
matically set.

10x10: internal secondary oper. mode (synchronization)


10x11: internal secondary oper. mode (drive-controlled posi
tioning)
11x00: internal secondary oper. mode (velocity synchroniza
tion)
13

Drive Halt
1-0 change deceleration of drive while maintaining max. ac
celeration (S-0-0372) (only possible when bits 14 and 15 = 1)

14

drive enable
1-0 change torque disable without delay (independent of bit 15
or 13)

15

drive ON
1-0 change best possible deceleration (only possible if
bit 14 = 1)

Fig.4-58:
P-0-0120 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of P-0-4028, Device control word


Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.2.16

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0121, Gear 1 motor-side (motor encoder)


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

338/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

In specific cases a mechanical gear can be used between motor encoder and
motor.
The gear ratio is defined as follows:

Fig.4-59:

Gear ratio motor encoder gear (gear 1)

Example:
5 motor revolutions result in 2 motor encoder revolutions
P-0-0121 : 5
P-0-0122 : 2
See also Functional Description "Motor, Mechanical Axis System, Measuring
Systems"
P-0-0121 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Rev
--

Input
MPB:
MPD:
MPH:

4.2.17

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
1 / 65535
1 / 65535
1 / 65535

Default value
1
1
1

P-0-0122, Gear 1 encoder-side (motor encoder)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In specific cases a mechanical gear can be used between motor encoder and
motor.
The gear ratio is defined as follows:

Fig.4-60:

Gear ratio motor encoder gear (gear 1)

Example:
5 motor revolutions result in 2 motor encoder revolutions
P-0-0121 : 5
P-0-0122 : 2
See also Functional Description "Motor, Mechanical Axis System, Measuring
Systems"
P-0-0122 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Data length:
Format:

4Byte
DEC_OV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 339/1033


and Controls

Product-Specific Parameters
Unit:
Rev
Cycl. tra.: --

Extr. val. ch.: +


Comb. check: --

Input
MPB:
MPD:
MPH:

4.2.18

Decim. pl.:
0
set switchable: +

min./max.
1 / 65535
1 / 65535
1 / 65535

Default value
1
1
1

P-0-0123, Feed constant 2 (optional encoder)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter is only active if "feed constant 2" has been activated in param
eter P00185, Control word of encoder 2 (optional encoder). The value of this
parameter is the length of the distance that is covered in linear form per revo
lution of a rotary position sensor (e.g. measuring wheel).
The unit depends on bit 4 of "S00076, Position data scaling type".
The following applies:
S-0-0076 bit 4 = 0 -> mm/rev
S-0-0076 bit 4 = 1 -> inch/rev
See also Functional Description "E-Stop Function"

P-0-0123 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.2.19

Extr. val. ch.:

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
10,0000
10,0000
10,0000

P-0-0124, Gear 2 load-side (optional encoder)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

If necessary, a mechanical gear can be used between load and optional en


coder.
The gear ratio is defined as follows:

Fig.4-61:

Gear ratio of gear 2 (optional encoder)

340/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Example:
2 load revolutions result in 5 encoder revolutions
P-0-0124 : 2
P-0-0125 : 5
See also Functional Description "Mechanical Axis System and Measuring Sys
tems"
P-0-0124 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Rev
--

Input
MPB:
MPD:
MPH:

4.2.20

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
1 / 65535
1 / 65535
1 / 65535

Default value
1
1
1

P-0-0125, Gear 2 encoder-side (optional encoder)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

If necessary, a mechanical gear can be used between load and optional en


coder.
The gear ratio is defined as follows:

Fig.4-62:

Gear ratio of gear 2 (optional encoder)

Example:
2 load revolutions result in 5 encoder revolutions
P-0-0124 : 2
P-0-0125 : 5
See also Functional Description "Mechanical Axis System and Measuring Sys
tems"
P-0-0125 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
Rev
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
1 / 65535
1 / 65535
1 / 65535

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +
Default value
1
1
1

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 341/1033


and Controls

Product-Specific Parameters

4.2.21

P-0-0127, Input revolutions of measuring gear


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

If necessary, a mechanical gear can be used between load and measuring


encoder.
The gear ratio is defined as follows:

Fig.4-63:

Gear ratio gear 3 (measuring encoder)

Example:
2 load revolutions result in 5 encoder revolutions
P-0-0128: 2
P-0-0127: 5
See also Functional Description "Measuring Encoder"
P-0-0127 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Rev
--

Input
MPB:
MPD:
MPH:

4.2.22

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1 / 4294967295
1 / 4294967295
1 / 4294967295

Default value
1
1
1

P-0-0128, Output revolutions of measuring gear


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

If necessary, a mechanical gear can be used between load and measuring


encoder.
The gear ratio is defined as follows:

Fig.4-64:

Gear ratio gear 3 (measuring encoder)

342/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Example:
2 load revolutions result in 5 encoder revolutions
P-0-0128: 2
P-0-0127: 5
See also Functional Description "Measuring Encoder"
P-0-0128 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Rev
--

Input
MPB:
MPD:
MPH:

4.2.23

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1 / 4294967295
1 / 4294967295
1 / 4294967295

Default value
1
1
1

P-0-0129, Internal position data format


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter displays the internal position resolution. The position resolution
refers to one revolution of the motor shaft (increments/revolution) in the case
of rotary motors and to the pole pair distance (increments/pole pair distance)
of the primary part in the case of linear motors.
The value of P00129 depends on "S00278, Maximum travel
range". The higher the value selected for S00278 the lower the
value of P00129 becomes!
Example:
P-0-0129 = 1048576
The result is an internal position resolution of:
360degrees/1048576 = 0.34mdegrees (in the case of rotary motors).

P-0-0129 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.2.24

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0130, Position switch signal selection list


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

-
MPH
MPH
MPH

-
-
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 343/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-synchronisation (ELS)

This parameter represents the list of reference signals. The following signals
are made available:

S-0-0000, Dummy parameter = position switch switched off

S00051, Position feedback 1 value

S00053, Position feedback 2 value

P-0-0434, Position command value of controller

P-0-0052, Actual position value of measuring encoder

P-0-0775, Resulting master axis position

P-0-0776, Effective master axis position

P-0-0778, Synchronous position command value

It isn't possible to make any input in this parameter, it represents the possible
input for the following parameter "P00131".
P-0-0130 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.2.25

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0131, Position switch signal selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

In this parameter one of the following signals contained in parameter "P00130"


is selected:

S00051, Position feedback 1 value

S00053, Position feedback 2 value

P-0-0434, Position command value of controller

P-0-0052, Actual position value of measuring encoder

P-0-0775, Resulting master axis position

P-0-0776, Effective master axis position

P-0-0778, Synchronous position command value

It is only allowed to enter signals from the above list (P00130), otherwise the
drive reacts with an error message. When the position switch is not used, it
makes sense to switch it off by selecting "S00000" in order to avoid unnec
essary calculating time of the axis processor.
P-0-0131 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

344/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.2.26

min./max.
--- / ----- / ----- / ---

P-0-0132, Position switch switch-on threshold


Allocation

Function

P-0-0132 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0076

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0133, Position switch switch-off thresholds


Allocation

Function

P-0-0133 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

The position switch allows realizing 8 independent position switch points. Each
position switch point is characterized by a switch-on threshold, a switch-off
threshold and a lead time, as well as the result, the cam status. The 8 switchoff thresholds have to be entered in this parameter. The input unit and limit is
taken over by the selected reference signal.
Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0076

Cycl. tra.: AT + MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

4.2.28

-
-
MPD
MPD

The position switch allows realizing 8 independent position switch points. Each
position switch point is characterized by a switch-on threshold, a switch-off
threshold and a lead time, as well as the result, the cam status. The 8 switchon thresholds are entered in this parameter. The input unit and limit is taken
over by the selected reference signal.

Cycl. tra.: AT + MDT

4.2.27

Default value
0
0
0

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0134, Position switch lead times


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

-
MPB
MPB

-
MPH
MPH

-
-
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 345/1033


and Controls

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
-synchronisation (ELS)

MPD

The position switch allows realizing 8 independent position switch points. Each
position switch point is characterized by a switch-on threshold, a switch-off
threshold and a lead time, as well as the result, the cam status. The 8 lead times
have to be entered in this parameter.
By setting a lead time
the delay of an external switch element that is controlled by a position switch
bit can be compensated. To do this, a theoretical correction value for the re
spective switch-on and switch-off thresholds is calculated from the programmed
lead time and the current drive velocity. The position 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 threshold
should be constant.

P-0-0134 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
AT + MDT

Input
MPB:
MPD:
MPH:

4.2.29

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0135, Position switch status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

The position switch allows realizing 8 independent position switch points. Each
position switch point is characterized by a switch-on threshold, a switch-off
threshold and a lead time, as well as the result, the cam status (status word).
This parameter represents the result; when the position is within the range de
fined by switch-on threshold and switch-off threshold, the corresponding bit is
set in the status word. This parameter can only be read, it is impossible to make
any input.

P-0-0135 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

346/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.2.30

P-0-0139, Analog output 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter indicates the voltage value that is output via the analog output 1
of the drive controller.
See also Functional Description "Analog Outputs"

P-0-0139 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V
AT + MDT

Input
MPB:
MPD:
MPH:

4.2.31

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
0,000 / 10,000
0,000 / 5,000
0,000 / 5,000

Default value
0,000
0,000
0,000

P-0-0140, Analog output 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter indicates the voltage value that is output via the analog output 2
of the drive controller.
See also Functional Description "Analog Outputs"

P-0-0140 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V
AT + MDT

Input
MPB:
MPD:
MPH:

4.2.32

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
0,000 / 10,000
0,000 / 5,000
0,000 / 5,000

Default value
0,000
0,000
0,000

P-0-0141, Thermal drive load


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The P00141, Thermal drive load parameter is used to check the thermal load
of the amplifier, 0% of the chip overtemperature corresponding to 0 Kelvin,
100% corresponding to the maximum chip overtemperature. Given the correct
dimensioning of the drive, the thermal load should not exceed the value of 80%
for the intended processing cycles.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 347/1033


and Controls

Product-Specific Parameters
See also Functional Description "Current Limitation"
Use

P-0-0141 - Attributes

The typical period of time for the temperature rise of the controller output stage
to its final temperature is approx. 10 minutes. To check the thermal load of a
drive at the time of commissioning without having to run processing cycles, it
is possible to preset the controller load to 80%. This can be done by writing any
value to the "P00141, Thermal drive load" parameter.

Function:
Memory:
Unit:
Cycl. tra.:

Due to the switching losses of the inverter, P00141 will al


ways display a value > 0 at drive enable, even if the output
current "P00440, Actual output current value (absolute val
ue)" equals zero. The basic load value depends on "P00001,
Switching frequency of the power output stage".

At a work load of approx. 97% the amplifier current limit takes


effect. This is displayed by the "E8057 Amplifier overload, cur
rent limit active" warning.

Par
-%
AT

Input
MPB:
MPD:
MPH:

4.2.33

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
0,0 / 100,0
0,0 / 100,0
0,0 / 100,0

Default value
-------

P-0-0142, Synchronization acceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 operating mode "position
control drive-controlled".
See also Functional Description "Synchronization Modes"
See also Functional Description "Position Control with Cyclic Command Value
Input"

P-0-0142 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: -Default value
100,000
100,000
100,000

348/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.2.34

P-0-0143, Synchronization velocity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter contains the value of the positioning velocity with which, during
dynamic synchronization, the distance to absolute synchronization is traveled
(position adjustment).
It is used in the synchronization modes and in the operating mode "position
control drive-controlled".
See also Functional Description "Synchronization Modes"
See also Functional Description "Position Control with Cyclic Command Value
Input"

P-0-0143 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.2.35

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
10,0000
10,0000
10,0000

P-0-0144, Cam shaft distance switch angle


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

A new value for "P00093, Cam shaft distance" only becomes active when the
current profile access angle passes the cam shaft distance switch angle. The
profile access angle is generated from the following parameters:

P-0-0053, Master axis position

P-0-0061, Angle offset begin of profile

P-0-0085, Dynamic angle offset

P-0-0108, Master drive polarity

P-0-0156, Electric gear input revolutions

P-0-0157, Electric gear output revolutions

P-0-0158, Angle offset change rate

Only takes effect in the "cam shaft" mode!


See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"
P-0-0144 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Deg
AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 349/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.2.36

min./max.
0,0000 / 360,0000
0,0000 / 360,0000
0,0000 / 360,0000

Default value
0,0000
0,0000
0,0000

P-0-0145, Oscilloscope: list of measured values 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The measured values of channel 3 of the oscilloscope function are stored in


chronological order in parameter "P00145, Oscilloscope: list of measured val
ues 3". The oldest measured value is the first element of the list of measured
values.
The recorded signal is the one identified by means of the IDN entered in
"P00147, Oscilloscope: signal selection 3".
Attribute, unit etc. are automatically adjusting to this selected signal.
See also Functional Description "Oscilloscope Function"

P-0-0145 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.2.37

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0146, Oscilloscope: list of measured values 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The measured values of channel 4 of the oscilloscope function are stored in


chronological order in parameter "P00146, Oscilloscope: list of measured val
ues 4". The oldest measured value is the first element of the list of measured
values.
The recorded signal is the one identified by means of the IDN entered in
"P00148, Oscilloscope: signal selection 4".
Attribute, unit etc. are automatically adjusting to this selected signal.
See also Functional Description "Oscilloscope Function"

P-0-0146 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

350/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.2.38

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0147, Oscilloscope: signal selection 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The IDN entered in "P00147, Oscilloscope: signal selection 3" defines the
signal that is to be recorded by channel 1.
Only such IDNs are allowed that are contained in the list "P00149, Oscillo
scope: signal selection list".
The measuring channel is deactivated with the input "0" or
"S00000".
When the recording is over, the recorded measured values are contained in
parameter "P00145, Oscilloscope: list of measured values 3".
See also Functional Description "Oscilloscope Function"

P-0-0147 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.2.39

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0148, Oscilloscope: signal selection 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The IDN entered in "P00148, Oscilloscope: signal selection 4" defines the
signal that is to be recorded by channel 1.
Only such IDNs are allowed that are contained in the list "P00149, Oscillo
scope: signal selection list".
The measuring channel is deactivated with the input "0" or
"S00000".
When the recording is over, the recorded measured values are contained in
parameter "P00146, Oscilloscope: list of measured values 4".
See also Functional Description "Oscilloscope Function"

P-0-0148 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

2Byte
IDN

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 351/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: -Input
MPB:
MPD:
MPH:

4.2.40

Extr. val. ch.: -Comb. check: --

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0149, Oscilloscope: signal selection list


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter P00149 contains all parameters that are suitable as trigger
signal (P00026) or measuring signal (P00023, P00024, P00147,
P00148).
See also Functional Description "Oscilloscope Function"

P-0-0149 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.2.41

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0150, Oscilloscope: number of valid measured values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 "P00150, Oscilloscope: number of valid measured values" parameter.
See also Functional Description "Oscilloscope Function"

P-0-0150 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
---

352/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.2.42

--- / ----- / ---

-----

P-0-0151, Synchronization init window for modulo format


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the second step of dynamic synchronization (position adjustment) a distance


is determined that has to be traveled for transition to absolute synchronization.
If the position difference is greater than the "synchronization window for modulo
format" (P00151), the direction of synchronization is determined by parameter
"P00154, Synchronization direction". If the position difference is smaller than
the value of parameter P00151, synchronization takes place over the shortest
distance.
See also Functional Description for the operating mode "Phase Synchroniza
tion with Real/Virtual Master Axis"
See also Functional Description "Synchronization Modes"

P-0-0151 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.2.43

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
10,0000
10,0000
10,0000

P-0-0152, Synchronization completed


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the case of the NC-controlled or drive-controlled change of operating modes,


the parameter "P00152, Synchronization completed" confirms that the drive
is controlled by the cyclic position command value again.
In the case of the operating modes "phase synchronization" and "cam shaft",
bit 0 is set to "1" after the first synchronization when the distance up to absolute
or relative synchronization was traveled. Once bit 0 has been set it depends on
parameter P00155 (bit 0) whether it is cleared, in case parameter "S00048,
Additive position command value", until the position difference resulting from it
was traveled. If bit 0 is set to "1" in parameter "P00155, Synchronization
mode", bit 0 remains set to "1".
See also Functional Description "Synchronization Modes"
See also Functional Description "Phase Synchronization with Real/Virtual Mas
ter Axis"

P-0-0152 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Data length:
Format:

2Byte
BIN

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 353/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: AT

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.2.44

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0153, Optimum distance home switch-reference mark


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

For MPx02
During the "drive-controlled homing procedure" command the distance be
tween the home switch edge and the reference mark is monitored with the home
switch and the reference mark evaluation having been activated.
For MPx03
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 ad
ditional 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 the
"P-0-0153, Optimum distance home switch-reference mark" parameter in ac
cordance with the table below.
See also Functional Description "Establishing the Position Data Reference"

Structure

Encoder

P-0-0153

Function

rotary

The distance is monitored. The optimum distance is


calculated internally and is 1/2 encoder revolution in the
case of HSF (MHD, MSK, MAD, MAF,2AD, ADF mo
tors) or incr. rotary encoders, respectively 1/2 encoder
revolution / "S-0-0116, Feedback 1 Resolution" in the
case of resolvers (MKD, MKE motors).

rotary

(value)

The distance is monitored. Half the reference mark dis


tance has to be entered in "P00153, Optimum dis
tance home switch-reference mark".

linear

The distance is not monitored. The linear encoder does


not possess reference marks with a constant distance
between them. You have to make sure that the actual
distance between switch edge or blocking detection and
reference mark is enough to ensure unequivocal detec
tion of the same reference mark edge.

linear

(value)

The distance is monitored. Half the reference mark dis


tance has to be entered in "P00153, Optimum dis
tance home switch-reference mark".

Fig.4-65:

Determining the value for P-0-0153

354/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0153 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Extr. val. ch.:

Cycl. tra.: --

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.2.45

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0154, Synchronization direction


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the second step of dynamic synchronization (position adjustment) a distance


is determined that has to be traveled for transition to absolute synchronization.
In the case of modulo axes, the drive can move in positive or negative direction.
The synchronization direction determines in which direction the drive is to
move.
See also Functional Description "Synchronization Modes"

Structure

P-0-0154

Fig.4-66:
Use

P-0-0154 - Attributes

Function

shortest distance

positive direction

negative direction

Synchronization Direction

If the shortest distance to absolute synchronization, however, is smaller than


"P00151, Synchronization init window for modulo format", the shortest dis
tance is traveled and the preset synchronization direction is ignored.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.2.46

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
0/2
0/2
0/2

Default value
0
0
0

P-0-0155, Synchronization mode


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 355/1033


and Controls

Product-Specific Parameters
Function

After activation of a synchronous operating mode with outer position control


loop, 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

processing of S-0-0048

Comment

0: trapezoidal velocity profile


1: P-0-0060 (filter time constant) active
1

relative synchronization
0: absolute synchronization
1: relative synchronization

3/2

synchronization range
00: modulo range slave axis (load revolution)
01: command value cycle slave axis
10: division of command value cycle

generation of actual value cycle


0: actual value cycle depends on P-0-0752
1: actual value cycle = command value cycle

synchronization in velocity synchronization


0: only when operating mode activated
1: always active

single-step synchronization
0: not active
1: active

mode of single-step synchronization


0: master-axis-synchronous
1: not master-axis-synchronous

Fig.4-67:
Use

Synchronization mode

Bit 0: Trapezoidal velocity profile (bit 0 = 0)Means that a distance is determined


at every change in "S00048, Additive position command value" and traveled
with a 2nd order interpolator taking "P-0-0686, Additive position command value,
positioning velocity" and "P-0-0687, Additive position command value, posi
tioning acceleration" into account.
Filter time constant active (bit 0 = 1)After absolute or relative synchronization
has been reached, subsequent changes in "S00048, Additive position com
mand value" are smoothed by a 1st order filter. The time constant of the filter is
set with parameter "P-0-0060, Filter time constant additional pos. command".
When the operating mode has been activated, any change of 10
in bit 0 is without effect after absolute or relative synchronization
has been reached!
Bit 1: Absolute synchronization (bit 1 = 0)An absolute position with regard to
the master axis is always established.

356/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Relative synchronization (bit 1 = 1)Only velocity adjustment is carried out.
Bit 2/3: It is possible to set synchronization in the modulo range, in the command
value cycle or in a division of the command value cycle. The distance to be
traveled is then limited to this range. The actual position value used for calcu
lating the distance must be unequivocal in the range in which synchronization
is to take place. The actual value cycle therefore has to be determined in such
a way that it is a multiple of the synchronization range.
Bit 4: With bit 4 = 0, the actual value cycle, in which there is "P00753, Position
actual value in actual value cycle", is generated depending on "P00752, Load
revolutions per actual value cycle slave axis".
The actual value cycle is set equal to the command value cycle (P-0-0754)
when bit 4 = 1.
Bit 5: Synchronization when operating mode is activated (bit 5 = 0) If velocity
adjustment is to be carried out only once in the velocity synchronization mode,
bit 5 has to be set to "0". All following velocity changes are carried out with max.
acceleration.
Synchronization always active (bit 5 = 1)
In the "velocity synchronization" mode, every change in velocity is limited to the
"P00142, Synchronization acceleration". The velocity change can be caused
by changing the master axis speed (P00764), the master drive gear
(P00156, P00157) or the fine adjust (P00083).
Bit 6: As an alternative to double-step synchronization with velocity and position
adjustment, it is possible to select single-step synchronization with this bit. In
stead of "P-0-0142, Synchronization acceleration" and "P-0-0143, Synchroni
zation velocity", the parameters "P-0-0697, Synchronization, master axis
synchronous position" and "P00698, Synchronization, master axis synchro
nization range" will be active in this case. During synchronization, the position
command values are generated with a 5th order polynomial and added to the
synchronous position command values.
Single-step synchronization is only possible with absolute synchro
nization (bit 1 = 0)!
Bit 7: This bit determines whether single-step synchronization is to be carried
out in master-axis-synchronous form. In this case (bit 7 = 0), the synchronization
process starts at a master axis start position which is calculated as the differ
ence of master axis synchronous position (P00697) and master axis synchro
nization range (P00698). Synchronization is completed at the master axis
synchronous position.
In case synchronization is not master-axis-synchronous (bit 7 = 1), the syn
chronization process starts immediately after the operating mode has been
activated. Independent of the master axis synchronous position, synchroniza
tion is completed after the master axis synchronization range has been gone
through.
P-0-0155 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0
0
0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 357/1033


and Controls

Product-Specific Parameters

4.2.47

P-0-0156, Master drive gear input revolutions


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Together with the parameter "P00157, Master drive gear output revolutions",
this parameter determines the master drive gear.
See also Functional Description "Synchronization Modes"

Use

A master axis position transmitted to the drive (P00053) is multiplied with the
electronic gear ratio before further processing and then limited to the standar
dized range of 2^20. The gear ratio results from the division of the value of
P00157 by the value of P00157.
The master axis position and therefore this parameter only takes effect in the
following operating modes:

P-0-0156 - Attributes

velocity synchronization

phase synchronization

cam shaft

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.2.48

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1 / 65535
1 / 65535
1 / 65535

Default value
1
1
1

P-0-0157, Master drive gear output revolutions


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Together with the parameter P00156, Master drive gear input revolutions, this
parameter determines the master drive gear.
See also Functional Description "Synchronization Modes"

Use

A master axis position transmitted to the drive (P00053) is multiplied with the
electronic gear ratio before further processing and then limited to the standar
dized range of 2^20. The gear ratio results from the division of the value of
P00157 by the value of P00157.
The master axis position and therefore this parameter only takes effect in the
following operating modes:

P-0-0157 - Attributes

velocity synchronization

phase synchronization

cam shaft

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

2Byte
DEC_OV

358/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: AT + MDT

Extr. val. ch.: +


Comb. check: --

Input
MPB:
MPD:
MPH:

4.2.49

Decim. pl.:
0
set switchable: --

min./max.
1 / 65535
1 / 65535
1 / 65535

Default value
1
1
1

P-0-0158, Angle offset change rate


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Function

In the "cam shaft" mode the parameter "P00061, Angle offset begin of profile"
has an influence on the profile access angle.

Use

If this angle offset is to be changed by a large range, it is necessary, with a


gradient in the active profile, to make a slow approach to the new value, be
cause every change implies a jump in position command value. A new value
for parameter P00061 doesn't take immediate effect. Starting with the current
value, a ramp-like approximation of the new value is carried out. The approxi
mation is carried out along the shortest possible path. The gradient of the ramp
is set in parameter "P00158, Angle offset change rate".
If the value "0" is preset for parameter P00158, the angle offset is carried out
immediately in one step.

P-0-0158 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Rpm
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.2.50

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35

Default value
100,00
100,00
100,00

P-0-0159, Slave drive feed travel


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Velocity synchronization
The parameter "P00159, Slave drive feed travel" is used in the "velocity syn
chronization" mode with linear velocity scaling for converting the rotary master
axis velocity to the linear slave axis velocity.

P-0-0777
P-0-0159

Fig.4-68:

Effective master axis velocity (in rpm)


Slave drive feed travel (in mm/min)
Slave axis velocity (in mm/min)

Slave axis velocity

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 359/1033


and Controls

Product-Specific Parameters
The function and significance of this parameter depend on the op
erating mode!
Synchronous operating mode with outer position control loop (phase synchro
nization, cam shaft, electr. motion profile)
With linear absolute scaling, the slave axis moves by the feed travel, per output
revolution of the master drive gear (including fine adjust), parameterized in
P-0-0159. This means that if the "P00776, Effective master axis position"
changes by 2^20 increments, the slave axis moves a distance corresponding
to "P00159, Slave drive feed travel".
Observe the following restrictions:

In the "cam shaft" and "electr. motion profile" modes, P00159 only takes
effect in the linear gear reduction component.

With modulo scaling, parameter "S00103, Modulo value" assumes the


task of parameter P00159 in the case of linear scaling, for the synchro
nous operating modes with outer position control loop.

See also Functional Description "Synchronization Modes"


P-0-0159 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.2.51

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
10,0000
10,0000
10,0000

P-0-0162, C1800 Command Drive optimization / command value box


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This command starts the drive-internal (master-independent) command value


input.
The following functions can be activated by means of the settings in "P-0-0165,
Drive optimization, control word":

automatic calculation and kinematic optimization of the velocity and posi


tion control loops ("automatic control loop setting")

generation of a command value characteristic, defined by the user, in ve


locity or position control, e.g. for manual control loop optimization (driveinternal 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

360/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Property damage caused by non-observance of conditions when start


ing command C1800!
Axis carries out independent movements! By initial position, make sure that the
drive-internally generated command value does not move the axis to the colli
sion area of machine contours!

WARNING

See also Functional Description "Automatic Setting of Axis Control"


P-0-0162 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.2.52

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0163, Damping factor for autom. controller adjust


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By varying P00163 the operator can influence the control loop dynamics ach
ieved by automatic control setting
P-0-0163 = 0.5: maximum dynamics
See also Functional Description "Automatic Setting of Axis Control"

P-0-0163 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.2.53

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
0,5 / 10,0
0,5 / 10,0
0,5 / 10,0

Default value
2,5
2,5
2,5

P-0-0164, Application for autom. controller adjust


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In order to take application-related control strategies into account for automatic


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.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 361/1033


and Controls

Product-Specific Parameters
P-0-0164

Application

I-compo
nent

P-compo
nent

machine tool good load stiffness

with

normal

nibbling machine short response times

without, Tn
= 0ms

great

following-on cutting device rel. non-dy


namic control loop setting

without, Tn
= 0ms

normal

roll feed very high degree of load inertia

with

great

handling axis oscillating systems

with

small

Fig.4-69:

Application-dependent speed loop setting

If required, Bosch Rexroth will extend the table.


The default value was set to machine tool.
P-0-0164 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.2.54

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0/4
0/4
0/4

Default value
0
0
0

P-0-0165, Drive optimization, control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Up to MPX04VRS: Selection for autom. controller adjust


By the start of "P-0-0162, C1800 Command Drive optimization / command val
ue box", the drive becomes independent of the preset command values and
generates the required command value characteristic on its own. Depending
on the settings in parameter P-0-0165, the drive can carry out different func
tions:

automatic calculation and kinematic optimization of the velocity and posi


tion control loops ("automatic control loop setting")

generation of a command value characteristic, defined by the user, in ve


locity or position control, e.g. for manual control loop optimization (driveinternal 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, which can be drive-internally generated,
are determined.
See also Functional Description "Drive-Internal Command Value Box"
See also Functional Description "Cogging Torque Compensation"

362/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Automatic Setting of Axis Control"
Structure

The figure below illustrates the options.


Bit

Designation/function

reserved

determine speed loop setting (S-0-0100, S-0-0101)

Comment

0: only calculate Kp and Tn


1: calculate and optimize Kp and Tn
2

determine position loop setting (S-0-0104)


0: only calculate Kv
1: calculate and optimize Kv

determine acceleration feedforward (S00348)


0: no
1: yes

determine load inertia (P-0-4010)


0: use value of P-0-4010
1: determine

reserved

determine max. acceleration


0: no
1: yes

13-7

reserved

9/8

operating mode "drive-internal command value box"

as of MPx05

00: inactive
01: velocity control
10: reserved
11: position control
10

recording of the cogging torque compensation table


0: no
1: yes

13

direction of motion (with motion in one direction only)


0: negative direction
1: positive direction

14

kind of motion
0: oscillating motion (reversing duty)
1: motion in one direction only (stepper mode)

15

setting of travel range with "autom. control loop setting"


0: input of (absolute) position limits
1: input of (relative) travel distance with reference to the
start position

Fig.4-70:

Selection for automatic control loop setting

as of MPx05

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 363/1033


and Controls

Product-Specific Parameters
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 control loop setting" (lowest priority)


Automatic control loop setting
In P-0-0165 you can set the conditions for "automatic control loop setting"
as regards the kind of motion, direction of motion and travel range. The
values for end positions or travel distance are 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


The bits 10, 8 and 9 must be "0", as "automatic control loop setting"
has the lowest priority!

Bit 6,4,2 and 1


When the value of at least one of these bits is "1", the drive is drive-internally
put into motion at the start of command C1800 in order to determine the cor
responding value. Otherwise, values are determined by means of calculation,
or they are not determined or the value entered in the parameter is applied. The
bits 15, 14 and 13 are taken into account!
Bit 15,14 and 13:
With bit 15, the conditions for the travel range of the axis are first determined:

To determine absolute position limits, they are entered in "P-0-0166, Drive


optimization, end position negative" and in "P-0-0167, Drive optimization,
end position positive".

To determine a relative travel distance, enter its absolute value in


"P-0-0169, Drive optimization, travel distance".

If the kind of motion "oscillating motion" was set with bit 14, the axis moves
between the current start position +/- half the value of P-0-0169.

If the kind of motion "stepper mode" was set with bit 14, the axis only
moves in the direction set by bit 13.

Drive-internal command value box


For the "drive-internal command value box", you can only set the condition as
regards the kind of motion (reversing duty or stepper mode) in P-0-0165. Fur
ther conditions, such as end positions, effective 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 and 8 These two bits determine the operating mode of the "drive-internal
command value box". The drive can work in velocity or position control. Velocity
control takes place via the motor encoder, position control via the position en

364/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
coder selected in "S-0-0520, Control word of axis controller". Bit 14 is taken into
account!
Bit 14: With bit 14, first determine the kind of motion of the axis for the operating
mode "drive-internal command value box":

With "oscillating motion", the position limits are entered in "P-0-0166, Drive
optimization, end position negative" and in "P-0-0167, Drive optimization,
end position positive".

With "stepper mode", the travel distance is entered in "P-0-0169, Drive


optimization, travel distance". The sign of P-0-0169 determines the direc
tion of motion of the axis.
The "drive-internal command value box" takes priority over the "au
tomatic control loop setting"!

Recording of cogging torque compensation table


Bit 10: When the value is "1", the drive is drive-internally put into motion at the
start of command C1800 in order to determine the cogging torque compensa
tion table.
The determination of the cogging torque compensation table takes
priority over "drive optimization" and "drive-internal command value
box"!
P-0-0165 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.2.55

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
8214
8214
8214

P-0-0166, Drive optimization, end position negative


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Up to MPX04: P-0-0166, Lower limit for autom. control loop adjust


In this parameter, enter the negative end position of the travel range within
which the axis, in the case of drive-internal command value input by "P-0-0162,
C1800 Command Drive optimization / command value box", may move.
P-0-0166 is used when the following preselection was made in the control word
for C1800 ("P-0-0165, Drive optimization, control word"):

automatic control loop setting 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

The value input or determination for the negative end position depends on the
"setting of travel range", bit 15 in "P-0-0165, Drive optimization, control word".

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 365/1033


and Controls

Product-Specific Parameters

Direct input of P-0-0166, when "input of position limits" was selected.

Drive-internal determination (only with "automatic control loop setting"),


when "input of travel distance" was selected. In this case, P-0-0166 results
from the current axis position at the start of C1800 minus half the value of
"P-0-0169, Drive optimization, travel distance".
At the start of C1800, the travel range intended for drive-internal
command value input is checked. Therefore, the value for P-0-0166
is determined and, if necessary, checked for the allowed travel
range limits of the axis!

P-0-0166 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.2.56

Extr. val. ch.:

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0167, Drive optimization, end position positive


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Up to MPX04: P-0-0167, Upper limit for autom. control loop adjust


In this parameter, enter the positive end position of the travel range within which
the axis, in the case of drive-internal command value input by "P-0-0162, C1800
Command Drive optimization / command value box", moves or may move.
P-0-0167 is used when the following preselection was made in the control word
for C1800 ("P-0-0165, Drive optimization, control word"):

automatic control loop setting 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

The value input or determination for the positive end position depends on the
"setting of travel range", bit 15 in "P-0-0165, Drive optimization, control word".

Direct input of P-0-0167, when "input of position limits" was selected.

Drive-internal determination (only with "automatic control loop setting"),


when "input of travel distance" was selected. In this case, P-0-0167 results
from the current axis position at the start of C1800 plus half the value of
"P-0-0169, Drive optimization, travel distance"
At the start of C1800, the travel range intended for drive-internal
command value input is checked. Therefore, the value for P-0-0167
is determined and, if necessary, checked for the allowed travel
range limits of the axis!

366/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0167 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.2.57

Extr. val. ch.:

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0168, Maximum acceleration to be parameterized


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In this parameter, the maximum acceleration determined with "automatic con


trol loop setting" (started by C1800) is entered, when the "determination of
maximum acceleration" was activated in "P-0-0165, Drive optimization, control
word".
"Automatic control loop setting is only active at the start of C1800,
when neither the operating mode "drive-internal command value
box" nor "recording of the cogging torque compensation table" was
activated in P-0-0165!
Parameter P-0-0168 is used as the suggested value for the subse
quent determination of the maximum accelerations to be input in
the operating modes.
See also Functional Description "Automatic Setting of Axis Control"

P-0-0168 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0160

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.2.58

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0169, Drive optimization, travel distance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter can be 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

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 367/1033


and Controls

Product-Specific Parameters

operating mode "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 control loop setting"


The value of P-0-0169 is only relevant, when "input of travel distance" was
selected under "setting of travel range" in "P-0-0165, Drive optimization, control
word".

If the kind of motion "oscillating motion " was selected in P-0-0165, the
allowed travel range is the value of P-0-0169, symmetrical relative to the
start position in positive and negative travel direction.
Note: At the start of "P-0-0162, C1800 Command Drive optimization /
command value box", the travel range intended for drive-internal com
mand value input is checked. Therefore, 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 the kind of motion "stepper mode" was selected in P-0-0165, the axis
moves step-by-step by the value of P-0-0169 in the direction of motion
preselected in P-0-0165.

The value of P-0-0169 is only relevant, when "stepper mode" was selected
under "kind of motion" in "P-0-0165, Drive optimization, control word". At the
start of C1800, the axis successively always moves by the distance of P-0-0169
in one direction. The direction depends on the sign of P-0-0169.
P-0-0169 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.2.59

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0170, Drive optimization, acceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter is active when the following preselection was made in the con
trol 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).

368/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
When the drive-internal command value box is used in velocity
control, there isn't any acceleration limitation active, the velocity is
input as command value jump! Any possibly required acceleration
limitation can be achieved via the command value ramp parameters
P-0-1201 etc. of velocity control!
See also Functional Description "Automatic Setting of Axis Control"
See also Functional Description "Drive-Internal Command Value Box"
P-0-0170 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.2.60

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

Comb. check: -min./max.


S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
10,000
10,000
10,000

P-0-0171, Drive optimization, velocity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter is active when the following preselection was made in the con
trol 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 velocity with which the axis is moved after
the start by "P-0-0162, C1800 Command Drive optimization / command value
box" by the drive-internal command value.
See also Functional Description "Automatic Setting of Axis Control"
See also Functional Description "Drive-Internal Command Value Box"
P-0-0171 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.2.61

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: -min./max.


S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
10,0000
10,0000
10,0000

P-0-0172, Drive optimization, dwell time


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
MPB

-
-
-
MPH

-
-
-
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 369/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

In this parameter, enter the dwell time during which the axis remains in standstill
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:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.2.62

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
1,000
1,000
1,000

P-0-0176, Torque/Force command smoothing time constant


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
-
-
-closed loop

MPH
MPH
-
-

MPD
MPD
-
-

With the time constant entered in this parameter the command value set in
"S00080, Torque/Force command" is filtered by means of a low-pass filter in
the torque control operating mode.
The "P00176, Torque/force command smoothing time constant"
only takes effect in the torque control mode.
See also Functional Description "Torque/Force Control"

P-0-0176 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

4.2.63

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
P3->P4
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
0 / 1000
0 / 1000
0 / 1000

Default value
0
0
0

P-0-0177, Absolute encoder buffer 1 (motor encoder)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

With an absolute motor encoder, current encoder data are saved when the drive
is switched off. The data that have been saved are displayed in this parameter.
They are used for repeated position initialization and monitoring when the drive

370/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
is switched on next time (see also "P00095, Absolute encoder monitoring
window for motor encoder").
The data that have been saved are represented in a list and customers cannot
interpret them. The data are used by the service and development staff for
specific diagnostic purposes.
See also Functional Description "Monitoring the Measuring Systems"
See also Parameter Description "P-0-0095, Absolute encoder monitoring win
dow for motor encoder"
P-0-0177 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
RETAIN_KUNDEValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.2.64

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0178, Absolute encoder buffer 2 (optional encoder)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

With an absolute optional (external) encoder, current encoder data are saved
when the drive is switched off. The data that have been saved are displayed in
this parameter. They are used for repeated position initialization and monitoring
when the drive is switched on next time (see also "P00096, Absolute encoder
monitoring window for opt. encoder").
The data that have been saved are represented in a list and customers cannot
interpret them. The data are used by the service and development staff for
specific diagnostic purposes.
See also Functional Description "Monitoring the Measuring Systems"
See also Parameter Description "P-0-0095, Absolute encoder monitoring win
dow for motor encoder"

P-0-0178 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
RETAIN_KUNDEValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.2.65

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0179, Absolute encoder buffer 3 (measuring encoder)


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 371/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-synchronisation (ELS)

With an absolute measuring encoder, current encoder data are saved when the
drive is switched off. The data that have been saved are displayed in this pa
rameter. They are used for repeated position initialization and position moni
toring when the drive is switched on the next time.
The data that have been saved are represented in a list and customers cannot
interpret them. The data are used by the service and development staff for
specific diagnostic purposes.
See also Functional Description "Measuring Encoder"
See also Parameter Description "P00097, Absolute encoder monitoring win
dow for measuring encoder"

P-0-0179 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
RETAIN_KUNDEValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.2.66

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

P-0-0180, Acceleration feedforward smoothing time constant


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter allows filtering the

double differentiated position command value (cyclic position control)

differentiated velocity command value (velocity control)

with a 1st order low pass in order to realize an acceleration feedforward which
avoids an unduly high excitation of the system even in the case of poor position
or velocity resolution. For the double differentiation can cause a highly noisy
feedforward value which in turn is added as an additive torque command value.

372/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Fig.4-71:

Parameterizable filter cascade

See also Functional Description "Axis Control (Closed-Loop Operation)"


P-0-0180 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

4.2.67

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
0 / 10000
0 / 10000
0 / 10000

Default value
0
0
0

P-0-0185, Control word of encoder 2 (optional encoder)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In this parameter it is possible to make basic settings with regard to encoder 2


(optional encoder).

All operating modes with external encoder are possible.

The actual position value is contained in "S00053, Position feedback 2


value".

If encoder 2 is used as a control encoder, the control loop can be closed


by means of it.

See also Functional Description "Monitoring the Measuring Systems"


See also Functional Description "Measuring Wheel Mode"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 373/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

activation of feed constant 2

Comment

0: not activated
1: activated
1

activation of spindle encoder monitor


0: not activated
1: activated

use of external encoder

as of MPx04VRS

0: position control encoder


1: measuring wheel encoder
3

activation of redundant motor encoder

as of MPx04

0: not activated
1: activated
4

activation of commutation via encoder 2

as of MPx04

0: commutation initialized via encoder 1


1: commutation initialized via encoder 2

Fig.4-72:
Use

Relevant bits of P-0-0185

Observe the following aspects for parameter setting:

Bit 1: When encoder 2 is used for high-speed spindles, the spindle en


coder monitor can be deactivated so that there isn't any error message or
error reaction triggered in case the position data reference gets lost (pos
sibly at high speed).

Bit 2: When measuring wheel encoder has been set, encoder 2 cannot be
simultaneously used as "redundant motor encoder" and "commutation via
encoder 2" in this case is not possible! When it is used as measuring wheel
encoder, "feed constant 2" must be activated and the value of the feed
constant of the measuring wheel must be entered in P00123, Feed con
stant 2 (optional encoder). The "feed constant 2" may only be used in
conjunction with "measuring wheel encoder"!
P00123 only refers to the measuring wheel! If a rotary, optional
(external) encoder is used as position control encoder for linear ax
es, "S00123, Feed constant" takes effect!
When "measuring wheel encoder" has been selected, S00521, bit
1 ="1" is set automatically!

Bit 3: With the setting "redundant motor encoder", NC-controlled deceler


ation or "best possible deceleration" is still possible after a motor encoder
error has occurred! A "redundant motor encoder" cannot be used for fur
ther purposes according to P00185 (can only be used "exclusively"!).
With the setting bit 3 = 1 all other settings in P00185 are invalid,
i.e. using the function "redundant motor encoder" excludes all other
functions!

Bit 4: When encoder 2 is to be used as commutation encoder, the position


of the optional encoder is used for initializing the commutation. In this way,

374/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
an incremental measuring system can be used as motor encoder. Encoder
2 must be absolute over the travel range of the axis or over a pole pair or
a pole pair distance of the motor!
Setting "commutation encoder" is only possible with connection
without slip between encoder 1 & encoder 2!
P-0-0185 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.2.68

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0187, Position command processing mode


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

For jerkfree motion in the "Position control" mode the position command values
sent via the command value channel are fine interpolated.
By means of parameter P00187, Position command processing mode it is
possible to select the following types of interpolation:

linear fine interpolation P-0-0187 = 0

cubic approximation P-0-0187 = 1

cubic fine interpolation according to contour P-0-0187 = 2

Fig.4-73:

Differences between the types of interpolation

Linear Fine Interpolation P-0-0187 = 0


The cyclically transmitted position command values (cf. S00047) are inter
preted as being connected straightly.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 375/1033


and Controls

Product-Specific Parameters
In the case of this type of interpolation, the cyclically set position
command value only takes effect one command value cycle after it
was set at the position controller input. The subsequent position
command value filter (cf. P00099) only takes effect in the case of
linear interpolation!
Cubic Approximation P-0-0187 = 1
The cyclically transmitted position command values (cf. S00047) are connec
ted by a jerk-optimized polynominal. This can cause slight path deviations
because the main purpose of this type of interpolation is jerk limitation.
In the case of the cubic approximation the maximum value of the
NC cycle time (parameter S00001) is 20 ms.
Cubic Fine Interpolation Acc. to Contour P-0-0187 = 2
The cyclically transmitted position command values (cf. S00047) are inter
connected by a polynominal according to contour. In this case it is impossible
to generate a jerk-optimized path because the main purpose is interpolation
according to contour. This means the fine-interpolated position command value
curve runs exactly through the cyclically transmitted position command values.
We recommend using the cubic fine interpolator if the lack of jerk
optimization does not cause any problems. That is why the mode
"cubic fine interpolation according to contour" has been set by de
fault.
P-0-0187 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.2.69

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0/2
0/2
0/2

Default value
1
1
1

P-0-0190, Operating hours control section


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 "P00193, Error memory operating hours of control section" parameter.
The value is displayed in seconds and is stored on the control sec
tion!
See also Functional Description "Operating Hours Counter"

376/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0190 - Attributes

Function: Par
Editability:
RETAIN_GER
Memory:
Validity ch.:
AET
Unit:
s
Extr. val. ch.:
Cycl. tra.: AT
Comb. check:
Input
MPB:
MPD:
MPH:

4.2.70

PM+OM

Data length:

4Byte

PM->OM

Format:

DEC_OV

---

Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0191, Operating hours power section


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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.
The value is displayed in seconds and is stored on the power sec
tion!
See also Functional Description "Operating Hours Counter"

P-0-0191 - Attributes

Function: Par
Editability:
RETAIN_GER
Memory:
Validity ch.:
AET
Unit:
s
Extr. val. ch.:
Cycl. tra.: -Comb. check:
Input
MPB:
MPD:
MPH:

4.2.71

PM

Data length:

4Byte

PM->OM

Format:

DEC_OV

---

Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0192, Error memory of diagnostic numbers


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

When the drive diagnoses a class 1 diagnostics error, a bit is set in parameter
"S00011, 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 parameter


"S00390, Diagnostic message number",

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 377/1033


and Controls

Product-Specific Parameters

the plain text of diagnosis is stored in parameter "S00095, Diagnostic


message",

the respective error number is stored in parameter "P00009, Error num


ber".

The diagnostic number that belongs to the error and is displayed in "S00390,
Diagnostic message number" is also stored in the "P00192, Diagnostic num
bers of error memory" parameter. In the form of a stack, this parameter
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 "P00190, Operating hours control section" parameter at the
time the error is detected is stored in the "P00193, Error memory operating
hours of control section" parameter in the same order.
The parameter is stored on the control section.
P-0-0192 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.2.72

PM+OM
PM->OM
---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0193, Error memory operating hours of control section


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

When the drive diagnoses a class 1 diagnostics error, a bit is set in parameter
"S00011, 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 parameter


"S00390, Diagnostic message number",

the plain text of diagnosis is stored in parameter "S00095, Diagnostic


message",

the respective error number is stored in parameter "P00009, Error num


ber".

The count of the "P00190, Operating hours control section" parameter at the
time the error is detected is stored in the "P00193, Error memory operating
hours of control section" parameter. In the form of a stack, this parameter con
tains, in chronological order, the hours-run meter counts of the last 50 errors
occurred. The count of the last error occurred is entered at the top.
The diagnostic number belonging to the error in accordance with "S00390,
Diagnostic message number" is stored in the "P00192, Diagnostic numbers
of error memory" parameter in the same order.

378/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The parameter is stored on the control section.
P-0-0193 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
s
Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.2.73

PM+OM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0194, Error memory power section


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

When the drive diagnoses a class 1 diagnostics error, a bit is set in parameter
"S00011, Class 1 diagnostics". In parameter "S-0-0135, Drive status word",
the bit 13 is then set for "error in class 1 diagnostics". If the error only concerns
the power section, it is additionally stored in the parameter "P-0-0194, Error
memory of power section".
See also Functional Description "Error Memory (Power Section and Control
Section)"

Use

For errors attributed to the power section, the corresponding code is saved in
P-0-0194 and stored on the power section. The error thereby remains clearly
assigned to the power section, even for servicing, for example when the control
section is replaced. The last 12 errors which occurred are stored in this pa
rameter in coded form in consecutive order and so is the corresponding count
of the operating hours counter:

Bit 025: operating hours counter value of power section in seconds at


the time of the error event

Bit 2631: code number of error

The last error occurred is entered at the top of the error memory list (P-0-0194).
The parameter is stored on the power section.
Code no. of error

Assigned error diagnosis

F8091

F8060

F8069

F2022

F2018

F2040

F2836

F2816

10

F2821

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 379/1033


and Controls

Product-Specific Parameters
11

F2820

12

F8838

Fig.4-74:
P-0-0194 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Assignment of error diagnosis number to code number of error


Par
LT_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.2.74

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong

Default value
-------

P-0-0195, IDN list of retain data (replacement of devices)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This list contains the IDNs of those parameters the values of which are required
for replacing devices without MultiMediaCard (MMC).
The parameter values of the IDNs listed in "P00195"

may only be loaded after a defective controller was replaced 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!

Property damage caused by errors when controlling motors and moving


parts!

WARNING

After having loaded the parameter values according to IDN list of the
retain data (P00195), check the actual position values and the current
target position!

See also Functional Description "Notes on How to Replace the Devices"


P-0-0195 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.2.75

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0196, Build date and time


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

380/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

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:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.2.76

nein
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0197, System time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Parameter P00197 contains a system time of the drive with a resolution of


100 ns. It can be used in conjunction with the parameters P00198 and
P00199 to establish an axis-comprehensive time reference in the case of er
ror.
In the case of drive errors, the drive stores the system time in pa
rameter P00198, System time error memory.
See also Functional Description "Diagnostic and Service Functions"
See also Parameter Description "P00198, System time error memory"
See also Parameter Description "P00199, System time error code"

Structure

Parameter "P00197, System time" is a 64-bit value, its structure is a list with
two 4-byte long elements.
Element
1

Low Word

system time (fine)

High Word

system time (coarse)

Fig.4-75:
Use

P-0-0197 - Attributes

Inhalt

Structure of P-0-0197, System time

Observe the following for parameterizing or interpreting the parameter:

The parameter is stored in volatile form when control voltage is switched


off, i.e. it will have been cleared after restart.

The system time is contained in the parameter mode.

The control unit can write P00197 in the parameter mode with the system
time of the installation (real time 100ns since 1601-01-01 [Window-FileTime]).

The system time counter is activated when the second element of


P00197 is written, i.e. the counter maintains the value "0" until it is written
by the control unit. The drive then transmits signals to the counter every
2 milliseconds.

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Data length:
Format:

4Byte var.
HEX

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 381/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.2.77

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0198, System time error memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

The count of parameter "P00197, System time" at the time the error is detec
ted is stored in parameter "P00198, System time error memory". It can be
used in conjunction with the parameters P-00197 and P00199 to establish
an axis-comprehensive time reference in the case of error.
See also Functional Description "Handling, Diagnostic and Service Functions"
See also Parameter Description "P00197, System time"
See also Parameter Description "P00199, System time error code"

Structure

This parameter has a stack structure and contains, in chronological order, the
system counts of the last 50 errors that occurred. The count of the last error
occurred is entered at the top. The unit of the entered times is [102 ns].
Two elements of the parameter make a time stamp, as the system
time is displayed with 64 bits (=8 bytes)!
Element

Notes
time for error (k)

Low Word

system time (fine)

High Word

system time
(coarse)

Low Word

system time (fine)

High Word

system time
(coarse)

Low Word

system time (fine)

High Word

system time
(coarse)

99

Low Word

system time (fine)

time for error (k49)

100

High Word

system time
(coarse)

Fig.4-76:
Record of Modifications

Content

time for error (k1)

time for error (k2)

Structure of P-0-0198, System time error memory

Version

Attribute

up to MPx04VRS

Memory: PARAM_SP

up to MPx04VRS

Validity ch.: PM-OM

Comment

382/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0198 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.2.78

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0199, System time error code


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Function

Parameter P00199 contains the error code consistent with "P00197, System
time". It can be used in conjunction with the parameters P00197 and P00198
to establish an axis-comprehensive time reference in the case of error.

Structure

The following parameters can be written in the parameter mode (P2 and P3):

P-0-0197, System time

P-0-0198, System time error memory

P-0-0199, System time error code


When replacing devices, the error history can remain in the instal
lation by copying the parameters from the old device and then to
the replacement device!

See also Functional Description "Handling, Diagnostic and Service Functions"


Record of Modifications

P-0-0199 - Attributes

Version
up to MPx04VRS
Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.2.79

Attribute
Memory: PARAM_SP

Comment

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0200, Start position probe function 2 active


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
-
MPD

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.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 383/1033


and Controls

Product-Specific Parameters
The "expectation window" has to be activated in "P00226, Probe, extended
control word".
The "expectation window" cannot be used with "time measure
ment"!
See also Functional Description "Probe Function"
P-0-0200 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0076

Cycl. tra.: AT + MDT

Extr. val. ch.:

min./max.
--- / ----- / ----- / ---

4.3

P-0-0201 - P-0-0500 General Functions

4.3.1

P-0-0201, End position probe function 2 active

Function

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

Allocation

Data length:
Format:

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

Default value
0,0000
0,0000
0,0000

-
MPH
MPH
MPH

-
-
-
MPD

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.
The "expectation window" has to be activated in "P00226, Probe, extended
control word".
The "expectation window" cannot be used with "time measure
ment"!
See also Functional Description "Probe Function"

P-0-0201 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0076

Cycl. tra.: AT + MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.2

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0,0000
0,0000
0,0000

P-0-0202, Difference probe values 1


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

384/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-closed loop

This parameter displays the absolute value of the difference between


"S00130, Probe value 1 positive edge" and "S00131, Probe value 1 negative
edge". The value is always calculated again when a new probe value 1, positive
or negative, is detected.
See also Functional Description "Probe Function"

Use

When determining P00202 you have to differentiate between axes with finite
and infinite travel range:

Axes with finite travel range (e.g. linear axes, absolute position data for
mat)

Fig.4-77:

P-0-0202 - Attributes

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 value is limited to half the value of "S00103,
Modulo value". The calculation of P00202 depends on the absolute value
of the probe value difference:

Fig.4-78:

Calculating P-0-0202 for axes with infinite travel range if S-0-0130


S-0-0131 <=(S-0-0103/2)

Fig.4-79:

Calculating P00202 for axes with infinite travel range if S-0-0130


S-0-0131 > (S-0-0103 / 2)

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.3

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0203, Difference probe values 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

This parameter displays the absolute value of the difference between


"S00132, Probe value 2 positive edge" and "S00133, Probe value 2 negative
edge". The value is always calculated again when a new probe value 2, positive
or negative, is detected.
See also Functional Description "Probe Function"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 385/1033


and Controls

Product-Specific Parameters
Use

When determining P00203 you have to differentiate between axes with finite
and infinite travel range:

axes with finite travel range (e.g. linear axes, absolute position data for
mat)

Fig.4-80:

P-0-0203 - Attributes

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 value is limited to half the value of "S00103,
Modulo value". The calculation of P00203 depends on the absolute value
of the probe value difference:

Fig.4-81:

Calculating P-0-0203 for axes with infinite travel range if S-0-0132


S-0-0133 <= (S-0-0103 / 2)

Fig.4-82:

Calculating P 0 0203 for axes with infinite travel range if S-0-0132


S-0-0133 > (S-0-0103 / 2)

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.3.4

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0204, Start position probe function 1 active


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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.
The "expectation window" has to be activated in "P00226, Probe, extended
control word".
The "expectation window" cannot be used with "time measure
ment"!
See also Functional Description "Probe Function"

P-0-0204 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte
DEC_MV

386/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:

S-0-0076

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.3.5

Extr. val. ch.:

S-0-0077 /
S-0-0078
set switchable: --

--

Decim. pl.:

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
0,0000
0,0000
0,0000

P-0-0205, End position probe function 1 active


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 "P00226, Probe, extended
control word".
The "expectation window" cannot be used with "time measure
ment"!
See also Functional Description "Probe Function"

P-0-0205 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0076

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.3.6

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0,0000
0,0000
0,0000

P-0-0206, Probe 1, max. number of marker failures


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
MPD
MPD

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 "P00224, Probe 1, number of
marker failures". When the value in P00224 has reached the value of
P00206, this is signaled in the respective bit of "S00179, Probe status".
The display in S00179 only takes place if the marker failure mon
itor was activated in "P00226, Probe, extended control word" for
probe 1!

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 387/1033


and Controls

Product-Specific Parameters
See also Functional Description "Probe Function"
P-0-0206 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.3.7

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0207, Probe 2, max. number of marker failures


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
-
MPD

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 "P00225, Probe 2, number of
marker failures". When the value in P00225 has reached the value of
P00207, this is signaled in the respective bit of "S00179, Probe status".
The display in S00179 only takes place if the marker failure mon
itor was activated in "P00226, Probe, extended control word" for
probe 2!

P-0-0207 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.3.8

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0208, Analog input 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
drives optional card
"open loop", "closed loop"

-
-
MPD
MPD

The input voltage currently provided at the analog input 5 can be read and
displayed in volt by means of this parameter.
Analog input 5 is only available in conjunction with a double-axis
device with configuration of 2 optional cards MA1 or in conjunction
with the analog master communication card (CDB01.1C-AN)!

388/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"
Use

The parameter content can be, for example,

directly processed in the drive PLC

cyclically transmitted to the control unit

or assigned to an internal drive parameter (assignment A or B).


The values are updated in the position loop clock (TA_position).

P-0-0208 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-V
AT

Input
MPB:
MPD:
MPH:

4.3.9

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0209, Analog input 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
drives optional card
"open loop", "closed loop"

-
-
MPD
MPD

The input voltage currently provided at the analog input 6 can be read and
displayed in volt by means of this parameter.
Analog input 6 is only available with a double-axis control section
with 2 optional cards MA1 or in conjunction with the analog master
communication card (CDB01.1C-AN)!
See also Functional Description "Analog Inputs"

Use

The parameter content can be, for example,

directly processed in the drive PLC (MLD)

cyclically transmitted to the control unit

or assigned to an internal drive parameter (assignment A or B).


The values are updated in the position loop clock (TA_position).

P-0-0209 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
-V
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 389/1033


and Controls

Product-Specific Parameters

4.3.10

P-0-0210, Analog input 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The input voltage currently provided at the analog input 1 can be read and
displayed in Volt by means of this parameter.
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

Use

The parameter content can be, for example,

directly processed in the drive PLC

cyclically transmitted to the control unit

or assigned to an internal drive parameter (assignment A or B)

werden.
The values are updated in the position controller clock.
P-0-0210 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-V
AT

Input
MPB:
MPD:
MPH:

4.3.11

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0211, Analog input 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
-
MPB
-
MPB
-
MPB
-
drives optional card
"open loop", "closed loop"

-
-
-
-

The input voltage currently provided at the analog input 2 can be read and
displayed in volt by means of this parameter.
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

Use

The parameter content can be, for example,

directly processed in the drive PLC

cyclically transmitted to the control unit

or assigned to an internal drive parameter (assignment A or B)


The values are updated in the position controller clock.

P-0-0211 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Data length:
Format:

2Byte
DEC_MV

390/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
V
Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.3.12

Extr. val. ch.: -Comb. check: --

Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0212, Analog input, list of assignable parameters


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This list parameter contains the IDNs of the parameters that can be entered in
"P00213, Analog input, assignment A, target parameter" and "P00236, An
alog input, assignment B, target parameter". These parameters are available
for assigning an analog input value.
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

P-0-0212 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.3.13

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0213, Analog input, assignment A, target parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter the IDN of that parameter is entered to which a value corre
sponding to the voltage at the respective analog input is to be written. The
scaling is made via "P00214, Analog input, assignment A, scaling per 10V full
scale"!
Only such IDNs can be entered in "P00213" that are contained in
"P00212, Analog input, list of assignable parameters".
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

P-0-0213 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 391/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.3.14

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0214, Analog input, assignment A, scaling per 10V full scale


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter the analog input for assignment A (range of values
per 10 V) is scaled.
Unit, decimal places and data type are determined by the parameter assigned
in "P00213, Analog input, assignment A, target parameter".
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

P-0-0214 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.3.15

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: +

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0215, Analog input, assignment A, signal value at 0V


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter the reference of the analog input for assignment A (value with
a voltage of 0 V at the analog input) is defined. This allows compensating a
possible offset of the voltage at the analog input for assignment A.
Unit, decimal places and data type are determined by the parameter assigned
in "P00213, Analog input, assignment A, target parameter".
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

P-0-0215 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: +
Default value
0
0
0

392/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.3.16

P-0-0216, Analog input, assignment A, dead zone


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to define, for the analog input voltage
(assignment A), a range of values that is interpreted as voltage value 0 V ("dead
zone") by the drive controller.
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

Use

P-0-0216 - Attributes

The "dead zone" is a symmetrical range relative to 0 V. The value entered in


"P00216, Analog input, assignment A, dead zone" is the positive and negative
limit value. All input voltage values the absolute value of which is smaller than
the value in P00216 are treated by the controller like an input voltage 0 V. This
allows suppressing the noise level of the input voltage signal!
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V
AT + MDT

Input
MPB:
MPD:
MPH:

4.3.17

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,000 / 10,000
0,000 / 10,000
0,000 / 10,000

Default value
0,000
0,000
0,000

P-0-0217, Analog input 1, time constant input filter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The analog input 1 can be read by the drive firmware via a digital low-pass filter.
The limit frequency of this filter is set by this parameter, if necessary the filter
can also be deactivated.
See also Functional Description "Performance Data"
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

Use

flimit
Tinput

Fig.4-83:

limit frequency in Hz
time constant of input fliter in ms

Calculating the limit frequency of the analog input filter

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 393/1033


and Controls

Product-Specific Parameters
P-0-0556, bit 5,2

Input filter

Tinput in s

inactive

500 s

active

>500 s

inactive

250 s

active

>250 s

inactive

1000 s

active

>1000 s

performance level
00: Basic performance

01: Advanced performance

10: Economy performance

Fig.4-84:
P-0-0217 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Setting the analog input filter depending on parameter "P-0-0556, Con


trol word of axis controller"
Par
PARAM_SP
ms
AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.18

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000

Default value
0,250
0,250
0,250

P-0-0218, Analog input, control parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used

for controlling the command "C2800 Analog input adjust"

for assigning the analog channels for "assignment analog channel A" or
"assignment analog channel B"

for selecting current input or voltage input

for selecting the measuring range

for selecting the kind of reaction in the case of wire break


It is possible to adjust both analog voltage and current inputs!

See also Functional Description "Analog Interface"


See also Functional Description "Analog Inputs"

394/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Bit

Structure
Designation/function

zero point/amplitude adjust

Comment

0: measuring voltage for "command value = 0" determines signal value at 0 V or 0 mA


1: measuring voltage for "command value = P00219" determines signal value for [1/10V] or
[1/20mA]
1

channel selection for adjust


Via bit 1 the assignment that is to be adjusted is selected.
0: Adjust of assignment A. Values for parameters P00214 and P00215 are determined.
1: Adjust of assignment B. Values for parameters P00237 and P00238 are determined.

7-4:

assignment analog channel A, selection of analog input


0000: no analog channel selected, assignment A is not active (default value)
0001: analog input 1
0010: analog input 2 (only for control section CSB01.1N-FC-...(BASIC OPENLOOP) or CSB01.1NAN-...(BASIC ANALOG))
0011: analog input 3 (with optional module MA1 or CDB01.1C-AN)
0100: analog input 4 (with optional module MA1 or CDB01.1C-AN)
0101: analog input 5 (as of MPD04VRS, with 2x optional module MA1 or CDB01.1C-AN)
0110: analog input 6 (as of MPD04VRS, with 2x optional module MA1 or CDB01.1C-AN)

11-8

assignment analog channel B, selection of analog input


0000: no analog channel selected, assignment B is not active (default value)
0001: analog input 1
0010: analog input 2 (only for control section CSB01.1N-FC-...(BASIC OPENLOOP) or CSB01.1NAN-...(BASIC ANALOG))
0011: analog input 3 (with optional module MA1 or CDB01.1C-AN)
0100: analog input 4 (with optional module MA1 or CDB01.1C-AN)
0101: analog input 5 (as of MPD04VRS, with 2x optional module MA1 or CDB01.1C-AN)
0110: analog input 6 (as of MPD04VRS, with 2x optional module MA1 or CDB01.1C-AN)

12

determining kind of signals that are to be evaluated by analog inputs


0 = voltage signals
1 = current signals

13

settings for measuring range of analog inputs


0 = 0..+-10V or 0..+20mA (standard)
1 = +2..+10V or +4..+20mA (wire break detection possible!)

14

(only for con


trol section
CSB01.1NFC-...(BASIC
OPENLOOP))
(only for con
trol section
CSB01.1NFC-...(BASIC
OPENLOOP))

determining kind of diagnostic message for wire break when wire break detection is active (bit 13 = 1) (only for con
trol section
0 = warning E2270
CSB01.1N1 = error F2270
FC-...(BASIC
OPENLOOP))

Fig.4-85:
Use

P00218, Analog input, control parameter

With successive double execution of command "P00220, C2800 Analog input


adjust command",

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 395/1033


and Controls

Product-Specific Parameters

the scaling of voltage or current at the analog input

and the reference value at 0 V or 0 mA

can be automatically set.


Assigning a defined command value to an applied analog input voltage or cur
rent by the value of P00218:
The respective voltage or current for the command value assigned
by P00218 must have been applied at the analog input during the
execution of the command!
P-0-0218 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.19

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0219, Analog input, maximum value for adjust


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter makes available a defined command value for determining the
values of

P-0-0214, Analog input, assignment A, scaling per 10V full scale or

P-0-0237, Analog input, assignment B, scaling per 10V full scale

See also Functional Description "Analog Interface"


See also Functional Description "Analog Inputs"
Use

By means of

P00218, Analog input, control parameter

P-0-0219, Analog input, maximum value for adjust

P-0-0220, C2800 Analog input adjust command

it is possible to carry out a zero point and gain adjust for the respective selected
analog channel assignment (cf. P00218).
By means of command C2800 the values for

P-0-0214, Analog input, assignment A, scaling per 10V full scale and

P-0-0215, Analog input, assignment A, signal value at 0V

or

P-0-0237, Analog input, assignment B, scaling per 10V full scale and

P-0-0238, Analog input, assignment B, signal value at 0V

are automatically determined and stored.


P-0-0219 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte
DEC_MV

396/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: -Input
MPB:
MPD:
MPH:

4.3.20

Extr. val. ch.: -Comb. check: --

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0220, C2800 Analog input adjust command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this command, together with

P00218, Analog input, control parameter

P-0-0219, Analog input, maximum value for adjust

it is possible to carry out a zero point and gain adjust for the respective selected
analog input (cf. P00218).
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"
Use

Thereby the values for assignment A (cf. P00218, bit 1 = 0):

P-0-0214, Analog input, assignment A, scaling per 10V full scale

P-0-0215, Analog input, assignment A, signal value at 0V

or for assignment B (cf. P-0-0218, bit 1= 1):

P-0-0237, Analog input, assignment B, scaling per 10V full scale

P-0-0238, Analog input, assignment B, signal value at 0V

are automatically determined and stored.


P-0-0220 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.3.21

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0222, Travel range limit switch inputs


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter the signals of the travel range limit switch inputs are displayed.
It is used to diagnose the travel range limit switch inputs.
See also Functional Description "Position Limitation/Travel Range Limit Switch"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 397/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

signal "limit switch +"

Comment

0: 0 V
1: +24 V
1

signal "limit switch -"


0: 0 V
1: +24 V

Fig.4-86:

Relevant bits of P-0-0222, Travel range limit inputs

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 P00222 via P00300 and
P00301. This was realized as the default setting!
P-0-0222 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.22

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0223, E-Stop input


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The status of the E-Stop input is mapped to this parameter. The parameter can
be used to check the E-Stop input or for visualization by a commissioning pro
gram.
See also Functional Description "E-Stop Function"

Structure

Parameter structure:
Bit

Designation/function

status of E-Stop input

Comment

0: activated (0 V)
1: not activated (+24 V)

Fig.4-87:

Structure of parameter P-0-0223, E-Stop input

For regular operation of the drive 24 V must be provided at the hardware input.
When activating the E-Stop function, bit 0 of this parameter must have been
assigned to a digital input.
P-0-0223 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Data length:
Format:

2Byte
BIN

398/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.3.23

Extr. val. ch.: -Comb. check: --

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0224, Probe 1, number of marker failures


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

It is possible to define an expectation window for probe 1; in order to be eval


uated the probe edges have to be within this window.
With active expectation window a "marker failure monitor" can be activated in
"P00226, Probe, extended control word" which registers the fact that the ex
pectation window is passed through without marker event and increments the
content of "P00224, Probe 1, number of marker failures".
See also Functional Description "Probe Function"

Use

P-0-0224 - Attributes

The content of "P00224" is set to "0" again if

a marker was detected within the expectation window,

values are written to "P-0-0226, Probe, extended control word",

"S00170, Probing cycle procedure command" is started or

probe enable is removed in "S00405, Probe 1 enable"

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.3.24

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0225, Probe 2, number of marker failures


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
-
MPD

It is possible to define an expectation window for probe 2; in order to be eval


uated the probe edges have to be within this window.
With active expectation window a "marker failure monitor" can be activated in
"P00226, Probe, extended control word" which registers the fact that the ex
pectation window is passed through without marker event and increments the
content of "P00225, Probe 2, number of marker failures".
See also Functional Description "Probe Function"

Use

The content of "P00225" is set to "0" again if

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 399/1033


and Controls

Product-Specific Parameters

P-0-0225 - Attributes

a marker was detected within the expectation window,

values are written to "P-0-0226, Probe, extended control word",

"S00170, Probing cycle procedure command" is started or

probe enable is removed in "S00406, Probe 2 enable"

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.25

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0226, Probe, extended control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 configure
extended, manufacturer-specific functionalities of the probe function, such as:

time measurement

expectation window and marker failure monitoring

triggering of 2 probe evaluations via one probe input only

Via this parameter, you can also 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

activation of expectation window for probe 1

Comment

0: without expectation window


1: with expectation window
1

marker failure monitoring for probe 1


0: failure monitor switched off
1: failure monitor switched on

activation of time measurement for probe 1


0: measurement of selected signals
1: time measurement

quick stop at probe 1


0: switched off
1: switching to speed cmd value = 0 of a 0 -> 1 edge of
MT1 (probe 1)

as of MPx04

400/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

activation of expectation window for probe 2

Comment

0: without expectation window


1: with expectation window
5

marker failure monitoring for probe 2


0: failure monitor switched off
1: failure monitor switched on

activation of time measurement for probe 2


0: measurement of selected signals
1: time measurement

use of probe inputs

as of MPx04

0: probe evaluation 1 uses probe input 1 ("S00401,


Probe 1"), probe evaluation 2 uses probe input 2
("S00402, Probe 2")
1: probe evaluation 1 and probe evaluation 2 use probe
input 1 ("S00401, Probe 1")
9

activation of probe function

as of MPx04V10

0: auto-activation deactivated

(as of MPx05,
S00169, bit 8, ap
plies)

1: auto-activation activated

Fig.4-88:
Use

P-0-0226, Probe, extended control word

Bit 0 or bit 4: activation of expectation window for probe 1 or 2 Via bit 0 or


bit 4 it is possible to activate an expectation window for probe 1 or probe
2 within which the selected edges of the probe signal (marker) have to
occur in order to be detected. The expectation window is defined with the
parameters "P00204, Start position probe function 1 active" and
"P00205, End position probe function 1 active".

Bit 1 or bit 5: marker failure monitoring for probe 1 or 2 With marker failure
monitoring for probe 1 or 2 switched on, "P-0-0224/0225, Probe 1/2, num
ber of marker failures" is incremented by 1, if the selected signal passes
through the expectation window without a probe signal ("marker") having
occurred. If marker failure monitoring has been switched off, the value in
P-0-0224 or P-0-0225 is not incremented by 1 in the above case

Bit 2 or bit 6: activation of time measurement for probe 1 or 2 If this bit has
been set to "1", relative time measurement takes place when a selected
edge occurs. The signal selected in "S00426/0427, Signal select probe
1/2" is ignored.

Bit 3: quick stop at probe 1


When bit 3 has been set, the drive switches to velocity control with com
mand value equal "0", at a 0 -> 1 edge of the probe 1 input. With active
speed command value reset, the drive displays "E8035 Quick stop with
probe detection is active". When probe enable is removed, the preselected
operating mode becomes active again.

Bit 8: use of probe input 1 for both evaluations


Probe input 1 can be used for both probe evaluations. This means:
Probe 1 triggers the evaluation for probe 1 and probe 2.
The input of probe 2 can be used for other purposes.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 401/1033


and Controls

Product-Specific Parameters
There aren't any data transmitted to parameter S00402!

Bit 9: activation of probe function (as of MPx04V10, but only for MPx04)
When this bit has been set to "1", the command "S-0-0170, Probing cycle
procedure command" is automatically activated when changing from the
parameter mode (PM, P2) to the operating mode (OM, P4, bb, Ab). After
the change to the operating mode, this bit does not have any other sig
nificance, which means that resetting and repeated setting of the bit won't
have any effect. However, the probe function can be deactivated and, if
necessary, activated again via S-0-0170.

P-0-0226 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.26

PM+OM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0227, Cam shaft profile, access angle


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Function

With this parameter it is possible in the "cam shaft" mode to have the calculated
value of the access angle for the current cam shaft profile displayed. The cal
culation of the table access angle is synchronized with the resulting master axis
position (P00775).

Use

The "cam shaft profile access angle" is generated from "P00776, Effective
master axis position" minus "P00061, Angle offset begin of profile" plus com
ponent of "P00085, Dynamic angle offset".

P-0-0227 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.3.27

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0228, Analog input 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The input voltage currently provided at the analog input 3 can be read and
displayed in Volt by means of this parameter.
See also Functional Description "Analog Interface"

402/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Analog Inputs"
Use

The parameter content can be, for example,

directly processed in the drive PLC

cyclically transmitted to the control unit

or assigned to an internal drive parameter (assignment A or B)


The values are updated in the position controller clock.

P-0-0228 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-V
AT

Input
MPB:
MPD:
MPH:

4.3.28

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0229, Analog input 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The input voltage currently provided at the analog input 4 can be read and
displayed in Volt by means of this parameter.
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

Use

The parameter content can be, for example,

directly processed in the drive PLC

cyclically transmitted to the control unit

or assigned to an internal drive parameter (assignment A or B)


The values are updated in the position controller clock.

P-0-0229 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-V
AT

Input
MPB:
MPD:
MPH:

4.3.29

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0231, Analog input 2, time constant input filter


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

-
-
-
-

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 403/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

The analog input 2 can be read by the drive firmware via a digital low-pass filter.
The limit frequency of this filter is set by this parameter, if necessary the filter
can also be deactivated.
See also Functional Description "Performance Data"
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

Use

flimit:
Tinput:

limit frequency in Hz
time constant of input filter in ms

Calculating the limit frequency of the analog input filter

Fig.4-89:

P-0-0556, bit 5,2

Input filter

Tinput in s

inactive

500 s

active

>500 s

inactive

250 s

active

>250 s

inactive

1000 s

active

>1000 s

performance level
00: Basic performance

01: Advanced performance

10: Economy performance

Fig.4-90:
P-0-0231 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Setting the analog input filter depending on parameter "P-0-0556, Con


trol word of axis controller"
Par
PARAM_SP
ms
AT + MDT

Input
MPB:
MPD:
MPH:

4.3.30

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000

Default value
0,250
0,250
0,250

P-0-0232, Analog input 3, time constant input filter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

The analog input 3 can be read by the drive firmware via a digital low-pass filter.
The limit frequency of this filter is set by this parameter, if necessary the filter
can also be deactivated.
See also Functional Description "Performance Data"
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

Use

MPD
MPD
MPD
MPD

Calculation:

404/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

flimit:
Tinput:

limit frequency in Hz
time constant of input filter in ms

Fig.4-91:

Calculating the limit frequency of the analog input filter

P-0-0556, bit 5,2

Input filter

Tinput in s

inactive

500 s

active

>500 s

inactive

250 s

active

>250 s

inactive

1000 s

active

>1000 s

performance level
00: Basic performance

01: Advanced performance

10: Economy performance

Fig.4-92:
P-0-0232 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Setting the analog input filter depending on parameter "P-0-0556, Con


trol word of axis controller"
Par
PARAM_SP
ms
AT + MDT

Input
MPB:
MPD:
MPH:

4.3.31

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000

Default value
0,250
0,250
0,250

P-0-0233, Analog input 4, time constant input filter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The analog input 4 can be read by the drive firmware via a digital low-pass filter.
The limit frequency of this filter is set by this parameter, if necessary the filter
can also be deactivated.
See also Functional Description "Performance Data"
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

Use

Calculation:

flimit:
Tinput:

Fig.4-93:

limit frequency in Hz
time constant of input filter in ms

Calculating the limit frequency of the analog input filter

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 405/1033


and Controls

Product-Specific Parameters
P-0-0556, bit 5,2

Input filter

Tinput in s

inactive

500 s

active

>500 s

inactive

250 s

active

>250 s

inactive

1000 s

active

>1000 s

performance level
00: Basic performance

01: Advanced performance

10: Economy performance

Fig.4-94:
P-0-0233 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Setting the analog input filter depending on parameter "P-0-0556, Con


trol word of axis controller"
Par
PARAM_SP
ms
AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.32

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000

Default value
0,250
0,250
0,250

P-0-0234, Analog input 5, time constant input filter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
drives optional card
"open loop", "closed loop"

-
-
MPD
MPD

The analog input 5 can be read by the drive firmware via a digital low-pass filter.
The limit frequency of this filter is set by this parameter, if necessary the filter
can also be deactivated.
See also Functional Description "Performance Data"
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

Use

flimit
Tinput

Fig.4-95:

limit frequency in Hz
time constant of input filter in ms

Calculating the limit frequency of the analog input filter

P-0-0556, bit 5,2

Input filter

Tinput in s

inactive

500 s

active

>500 s

inactive

250 s

active

>250 s

performance level
00: Basic performance

01: Advanced performance

406/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0556, bit 5,2

Input filter

Tinput in s

inactive

1000 s

active

>1000 s

performance level
10: Economy performance

Fig.4-96:
P-0-0234 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Setting the analog input filter depending on parameter "P-0-0556, Con


trol word of axis controller"
Par
PARAM_SP
ms
AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.33

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000

Default value
0,250
0,250
0,250

P-0-0235, Analog input 6, time constant input filter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
drives optional card
"open loop", "closed loop"

-
-
MPD
MPD

The analog input 6 can be read by the drive firmware via a digital low-pass filter.
The limit frequency of this filter is set by this parameter, if necessary the filter
can also be deactivated.
See also Functional Description "Performance Data"
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

Use

flimit:
Tinput:

Fig.4-97:

limit frequency in Hz
time constant of input filter in ms

Calculating the limit frequency of the analog input filter

P-0-0556, bit 5,2

Input filter

Tinput in s

inactive

500 s

active

>500 s

inactive

250 s

active

>250 s

inactive

1000 s

active

>1000 s

performance level
00: Basic performance

01: Advanced performance

10: Economy performance

Fig.4-98:
P-0-0235 - Attributes

Setting the analog input filter depending on parameter "P-0-0556, Con


trol word of axis controller"

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

2Byte
DEC_OV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 407/1033


and Controls

Product-Specific Parameters
Unit:
ms
Cycl. tra.: AT + MDT
Input
MPB:
MPD:
MPH:

4.3.34

Extr. val. ch.: +


Comb. check: --

Decim. pl.:
3
set switchable: +

min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000

Default value
0,250
0,250
0,250

P-0-0236, Analog input, assignment B, target parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter the IDN of that parameter is entered to which a value corre
sponding to the voltage at the respective analog input is to be written. The
scaling is made via "P00237, Analog input, assignment A, scaling per 10V full
scale"!
Only such IDNs can be entered in "P00213" that are contained in
"P00212, Analog input, list of assignable parameters".
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

P-0-0236 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.35

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0237, Analog input, assignment B, scaling per 10V full scale


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter the analog input for assignment B (range of values
per 10 V) is scaled.
Unit, decimal places and data type are determined by the parameter assigned
in "P00236, Analog input, assignment B, target parameter".
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

P-0-0237 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: +

408/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.3.36

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0238, Analog input, assignment B, signal value at 0V


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter the reference of the analog input for assignment B (value with
a voltage of 0 V at the analog input) is defined. This allows compensating a
possible offset of the voltage at the analog input.
Unit, decimal places and data type are determined by the parameter assigned
in "P00236, Analog input, assignment B, target parameter".
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"

P-0-0238 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.3.37

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: +

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0239, Analog input, assignment B, dead zone


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to define a range of values for the


analog input voltage (assignment B). The controller interprets this range of val
ues as voltage value 0 V ("dead zone").
See also Functional Description "Analog Interface"

Use

P-0-0239 - Attributes

The "dead zone" is a symmetrical range relative to 0 V. The value entered in


"P00239, Analog input, assignment B, dead zone" is the positive and negative
limit value. All input voltage values the absolute value of which is smaller than
the value in "P00239" are treated by the controller like input voltage 0 V. This
allows suppressing the noise level of the input voltage signal!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
V
AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,000 / 10,000

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +
Default value
0,000

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 409/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.3.38

0,000 / 10,000
0,000 / 10,000

0,000
0,000

P-0-0240, C1700 Command measuring wheel mode


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
-
-
-
-
-synchronisation (ELS)

MPD
MPD
-
-

With "P00240, C1700 Command measuring wheel mode" the hybrid position
control is activated. The drive switches position control from control with one
encoder to hybrid position control (using two encoders).
See also Functional Description "Measuring Wheel Mode"

Use

The command can only be started with status ready for operation. In addition
there have to be two encoders available and hybrid position control mustn't
have been activated yet. If one of these conditions has not been fulfilled, an
error message (command error) is generated. If the command is not cleared, it
remains active until the drive is switched off or up to phase regression.
With hybrid position control, the position difference of motor and measuring
wheel encoder is added to the actual position value of the motor encoder for
compensating possibly occurring slip between drive motor and material.
When the command is started, the position data reference of both
encoders to the axis is cleared.

P-0-0240 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.3.39

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P4
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

P-0-0241, Actual pos. smoothing time constant for hybrid pos. control
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

For hybrid position control (e.g. measuring wheel mode) the actual position
value difference between encoder 2 (e.g. optional encoder) and encoder 1 (e.g.
motor encoder) is filtered via a 1st order low pass with the time constant entered
in this parameter.
The filter can be deactivated by writing the value "0" to this param
eter.
See also Functional Description "Measuring Wheel Mode"

P-0-0241 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

2Byte
DEC_OV

410/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
ms
Cycl. tra.: -Input
MPB:
MPD:
MPH:

4.3.40

Extr. val. ch.: +


Comb. check: --

Decim. pl.:
2
set switchable: --

min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35

Default value
0,00
0,00
0,00

P-0-0242, Current actual slip value in %


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter displays the currently occurred deviation of the actual position
values of motor encoder (S00051) and external encoder (S00053) in the
case of hybrid position control.
It is referring to

one measuring wheel revolution, if "feed constant 2" is active in parameter


P00185 (typical case: measuring wheel is measuring linear infeed)

one revolution of the external encoder, if "feed constant 2" is not active in
parameter P00185 (encoder is measuring rotary infeed).
During initialization the value "0" is written to this parameter. The
value of the parameter is also maintained after hybrid position con
trol has been completed.

See also Functional Description "Measuring Wheel Mode"


P-0-0242 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-%
AT

Input
MPB:
MPD:
MPH:

4.3.41

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0243, Maximum occurred actual slip value in %


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter stores the maximum slip value (%) that has occurred between
the actual position values of motor encoder and measuring wheel encoder with
active measuring wheel mode. The current slip value is displayed in "P00242,
Current actual slip value in %".

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 411/1033


and Controls

Product-Specific Parameters
During initialization the value "0" is written to this parameter. The
last value of the parameter is also maintained after hybrid position
control has been completed. The value "0" can be written to the
parameter in order to activate maximum value storage again.
See also Functional Description "Measuring Wheel Mode"
P-0-0243 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-%
AT

Input
MPB:
MPD:
MPH:

4.3.42

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0244, Monitoring window of slip in %


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The value of this parameter defines the maximum allowed deviation of the ac
tual position values of motor encoder (S00051) and external encoder
(S00053) in the case of hybrid position control, related to one measuring
wheel revolution (%).
When this value is exceeded the "F2036 Excessive position feedback differ
ence" error message is generated. The monitor is only active for hybrid position
control (measuring wheel mode).
The monitor can be switched off by writing the value "0" to this pa
rameter.
See also Functional Description "Measuring Wheel Mode"

P-0-0244 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Input
MPB:
MPD:
MPH:

4.3.43

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
0,0 / 2000,0
0,0 / 2000,0
0,0 / 2000,0

Default value
0,0
0,0
0,0

P-0-0300, Digital I/Os, assignment list


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

412/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

Via parameter P00300 drive signals are assigned to the digital inputs/outputs
of the control section by configuring the corresponding IDN in the list parameter.
Apart from the IDN, the bit number desired for the input or output
(cf. "P00301, Digital I/Os, bit numbers") and the output direction
(cf. "P00302, Digital I/Os, direction") have to be defined!
See also Functional Description "Digital Inputs/Outputs"

Use

Selection Lists
The IDNs allowed for the configuration are contained in the following list pa
rameters:

output signals: "S-0-0398, IDN list of configurable data in signal status


word"

input signals: S-0-0399, IDN list of configurable data in the signal control
word

Default Configurations
The default configurations depending on the control section are de
scribed in the chapter on the digital inputs/outputs in the Functional
Description!
Notes on Parameterization for Single-Axis Devices (HCS, HMS,...)
For parameter setting of P00300, take the following notes into account:

The assignment of the analog command value input to a parameter IDN


(e.g. S00036, Velocity command value) takes place in "P00213, Analog
input, assignment A, target parameter" or "P00236, Analog input, as
signment B, target parameter".

For the parallel interface, master-side control signals and command val
ues are input via the parallel interface (X15)!

Notes on Parameterization for Double-Axis Devices (HMD)


For the double-axis device (HMD01.1-..., control section CDB01.1-...) all digital
inputs/outputs of the control section can be used by each of the two axes. Each
of the two axes has the assignment parameters P00300, P00301 and
P00302. Take the following aspects into account:

P-0-0300 - Attributes

Digital inputs or inputs/outputs (IO...) used as digital input can be used


simultaneously by both axes, if the assignment parameters of both axes
have the same IDN (P00300), bit number (P00301) or directional as
signment (P00302) in the respective line!

Digital inputs or inputs/outputs (IO...) used as digital input cannot be used


simultaneously by both axes, if the assignment parameters of both axes
have a different IDN (P00300), bit number (P00301) or directional as
signment (P00302) in the respective line! The respective line of P00300
of one of the two axes has to contain "S00000" (no assignment)!

Digital outputs or inputs/outputs (IO...) used as digital output cannot be


used simultaneously by both axes! The respective line of P00300 of one
axis has to contain "S00000" (no assignment), if the same line of the
other axis contains an assignment.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 413/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.3.44

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0301, Digital I/Os, bit numbers


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to configure the digital inputs/outputs of the control


section.
In "P00301, Digital I/Os, bit numbers" the desired bit number which is to be
assigned to the digital input or output is indicated for each assigned parameter
(cf. "P00300, Digital I/Os, assignment list").
Apart from determining the bit number, the IDN desired for the out
put or input has to be defined via "P00300, Digital I/Os, assign
ment list".
See also Parameter Description "P-0-0300, Digital I/Os, assignment list"
See also Functional Description "Digital Inputs/Outputs"

P-0-0301 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.45

PM
PM->OM
---

Data length: 2Byte var.


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0302, Digital I/Os, direction


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to configure the digital inputs/outputs of the control


section.
In parameter "P00302, Digital I/Os, direction" the desired function (direction)
is indicated for each assigned parameter (cf. "P-0-0300, Digital I/Os, assign
ment list"). This means that parameter P00302 sets the digital input or output.

"0" for "input" function

"1" for "output" function


Apart from determining the "digital I/Os, direction", the desired IDN
and bit number for the output or input has to be defined via
"P00300, Digital I/Os, assignment list" or "P00301, Digital I/Os,
bit numbers".

414/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Digital Inputs/Outputs"
Use

Notes on Default Configuration


As regards the default configuration (= condition as supplied), observe the fol
lowing facts:

The inputs determined on the hardware side (Ex) are automatically pro
vided with the correct value for the direction in their default status!

The combined inputs/outputs (EAx) are configured as inputs in their de


fault status!

Other values than "0" or "1" are rejected when the list is checked and reset
to the default value!

See also Parameter Description "P-0-0300, Digital I/Os, assignment list"


See also Parameter Description "P-0-0301, Digital I/Os, bit numbers"
P-0-0302 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.46

PM
PM->OM
---

Data length: 2Byte var.


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0303, Digital I/Os, status display


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The signal states of the digital inputs are displayed in parameter "P00303,
Digital I/Os, inputs". This means that the current signal level (or switch status
for MP*02VRS) is displayed.
The table below illustrates the different significance of the individual bits de
pending on control section and firmware:
See also Functional Description "Digital Inputs/Outputs"
See also Parameter Description "P-0-0304, Digital I/Os, outputs"

Bit

Structure
Control section
Designation/functionMP*02VRS

all*

relay-1 activated

Designation/functionas of
MP*03VRS

Comment

not assigned

as of MP*03VRS, status
of outputs is displayed in
P00304

0: no /
1: yes
5..1

all*

status dig. input 1...5


0: low level /
1: high level

as for MP*02VRS

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 415/1033


and Controls

Product-Specific Parameters
6

CDB01.1C

status dig. input 6

CSB01.1C

0: low level /

CSH01.1C

1: high level

CSB01.1N-FC

relay-2 activated

as for MP*02VRS

not assigned

0: no /
1: yes
7

CDB01.1C

status dig. input 7

CSB01.1C

0: low level /

CSH01.1C

1: high level

CSB01.1N-FC

relay-3 activated

as for MP*02VRS

not assigned

as of MP*03VRS, status
of outputs is displayed in
P00304
as of MP*03VRS, status
of outputs is displayed in
P00304

0: no /
1: yes
10..8

as of MP*03VRS, status
of outputs is displayed in
P00304

CDB01.1C

status dig. input/output 8...10

status dig. input 8...10

CSB01.1C

0: low level /

0: low level / 1: high level

CSB01.1N-AN

1: high level

CSB01.1N-PB
CSB01.1N-SE
CSH01.1C
CSB01.1N-FC

status dig. input 8...10

as for MP*02VRS

0: low level /
1: high level
11

22..12

CDB01.1C

status dig. input/output 11

status dig. input 11

CSB01.1N-AN

0: low level /

0: low level /

CSH01.1C

1: high level

1: high level

CDB01.1C

status dig. input 12...22

as for MP*02VRS

as of MP*03VRS, status
of outputs is displayed in
P00304

0: low level /
1: high level
31..23

all*

not assigned

not assigned

all*: CDB01.1C, CSB01.1C, CSB01.1N-AN, CSB01.1N-FC, CSB01.1N-PB, CSB01.1N-SE, CSH01.1C

Fig.4-99:

Relevant bits of "P-0-0303, Digital I/Os, inputs"

As of version MP*03VRS, the function of P00303 was changed in


such a way that all status bits concerning the outputs (relay or dig
ital) are no longer contained in P00303, but displayed in
"P00304, Digital I/Os, outputs"!
P-0-0303 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

416/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.3.47

P-0-0304, Digital I/Os, outputs


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

The states of the digital and relay outputs are displayed in parameter "P00304,
Digital I/Os, outputs". This means that the current signal level or switch status
is displayed; the following cases have to be distinguished for inputs/outputs that
can be switched:

With configuration as output, the output signal status is displayed in


P00304.

With configuration as input, the input signal status is displayed in


"P00303, Digital I/Os, inputs".

See also Functional Description "Digital Inputs/Outputs"


See also Parameter Description "P-0-0303, Digital I/Os, inputs"
Configuration takes place via "P00302, Digital I/Os, direction".
Structure

Bit

Control section

Designation/function

Comment

all*

relay-1 activated

in MP*02VRS, status of
outputs is displayed in
P00303

0: no
1: yes
5..1

all*

not assigned

CSB01.1N-FC

relay-2 activated
0: no
1: yes

CSB01.1N-FC

relay-3 activated
0: no
1: yes

10..8

CDB01.1C

status dig. output 8...10

CSB01.1N-AN

0: low level

CSB01.1N-PB

1: high level

CSB01.1N-SE
CSH01.1C
11

15..12

CDB01.1C

status dig. output 11

CSB01.1N-AN

0: low level

CSH01.1C

1: high level

all*

not assigned

all*: CDB01.1C, CSB01.1C, CSB01.1N-AN, CSB01.1N-FC, CSB01.1N-PB,


CSB01.1N-SE, CSH01.1C

Fig.4-100:

Relevant bits of "P-0-0304, Digital I/Os, outputs"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 417/1033


and Controls

Product-Specific Parameters
P-0-0304 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.48

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0326, Multiplication of measuring encoder


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Function

The parameter P00326 displays the factor with which the signals of the meas
uring encoder are multiplied in the drive.

Use

The multiplication of the measuring encoder is resulting depending on the pa


rameters "P00765, Modulo factor measuring encoder" and "P00327, En
coder resolution of measuring encoder".
The internal encoder resolution for the measuring encoder is calculated as fol
lows:

Fig.4-101:

Internal encoder resolution for the measuring encoder

See also Functional Description "Measuring Encoder"


P-0-0326 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.3.49

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0327, Encoder resolution of measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The resolution of the measuring encoder is indicated in this parameter.


For rotary encoders the value means the number of division periods or cycles
per revolution of the encoder shaft (DP/rev).
At present, only rotary encoders can be evaluated as measuring
encoders!

418/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Measuring Encoder"
P-0-0327 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
DP/Rev
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.50

PM
PM->OM
---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0328, Type of position encoder for measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

With this parameter the essential properties of the measuring encoder are de
fined.
See Functional Description "Measuring Encoder"

Structure

Bit

Designation/function

kind of encoder
0: rotary
1: not allowed

rotational direction
0: not inverted
1: inverted

7/6

possibility and deactivation of absolute evaluation


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

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 419/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

Comment

absolute evaluation with possibility of absolute evaluation as of MPx04,


missing
not yet defined in
0: bit 7 and bit 6 define the status of absolute evaluation SERCOS
1: absolute evaluation has been activated, independent
of bit 7 and bit 6

13

deactivation of encoder replacement monitoring

as of MPx04V26

0: encoder replacement monitoring has been activated, not defined in SER


i.e. encoder replacement is recognized (only for encoders COS
with data memory)
1: encoder replacement monitoring has been deactiva
ted, i.e. no error (F2176) is signaled when encoder is
replaced and the reference is possibly maintained; this
does not affect position initialization
ATTENTION: Only makes sense for mechanically adjus
ted encoders!

Fig.4-102:

P-0-0328, Type of position encoder for measuring encoder

Only the bits mentioned above are supported by the software. In


the case of absolute measuring systems with data memory, bit 6 is
automatically set.
P-0-0328 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.51

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0329, Smoothing of actual position value 3 of measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter determines the time constant of the filter for smoothing
"P00052, Actual position value of measuring encoder". Time constants from
0 to 50 ms can be set. When "0" is input, there is no smoothing.
The delay of the filter is compensated by a feedforward.
See Functional Description "Measuring Encoder"

P-0-0329 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0 / 50

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0

420/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.3.52

0 / 50
0 / 50

0
0

P-0-0330, Control word of measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter is used to activate or deactivate the reference mark evaluation.


See also Functional Description "Measuring Encoder"

Structure

Bit

Designation/function

Comment

reference mark evaluation


0: deactivated
1: activated

Fig.4-103:
P-0-0330 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Reference mark evaluation


Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.53

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0331, Status of measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter displays whether the actual position values in P00052 have
been homed.
See also Functional Description "Measuring Encoder"

Structure

Bit

Designation/function

Comment

status of measuring encoder


0: not homed
1: homed

Fig.4-104:
P-0-0331 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Status of measuring encoder


Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 421/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.3.54

--- / ----- / ---

0
0

P-0-0332, Actual velocity value of measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter displays the filtered measuring encoder velocity in rpm at the
measuring gear output.
See also Functional Description "Measuring Encoder"

P-0-0332 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Rpm
AT

Input
MPB:
MPD:
MPH:

4.3.55

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
----0,0000

P-0-0334, Absolute encoder range of measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

This parameter indicates the maximum extent of the travel range that can be
selected so that an absolute measuring encoder can be evaluated in absolute
form.
See also Functional Description "Measuring Encoder"

Use

P-0-0334 - Attributes

If the encoder position exceeds this maximum travel range, bit 6 in the position
feedback type parameter (P00328) 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 "P00331, Status of measuring encoder".
Function:
Memory:
Unit:
Cycl. tra.:

Par
-Rev
--

Input
MPB:
MPD:
MPH:

4.3.56

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0340, C3500 Command Determine encoder correction values


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

422/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-closed loop

By means of this command correction values are determined for an encoder


with sinusoidal or sinelike signals; these values are stored in a table "P00342,
Correction value table for encoder correction".
See also Functional Description "Encoder Correction"

Use

P-0-0340 - Attributes

The encoder for which the correction values are to be determined is selected
in "P00341, Control word for encoder correction". When the required number
of measured values has been recorded and the correction value table has been
created, the controller automatically completes the command! If encoder cor
rection has been activated with the drive in operation (P00341), the signal
shape errors of the encoder tracks are compensated by adding a correction
value. The correction values are taken from the table values of parameter
P00342.
Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.57

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0341, Control word for encoder correction


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter defines

for which encoder correction values ("P00340, C3500 Command Deter


mine encoder correction values") are to be determined

for which encoder the "encoder correction" function is to be activated.


Only activate encoder correction for the encoder for which the cor
rection values ("P00342, Correction value table for encoder cor
rection") were recorded!

See also Functional Description "Encoder Correction"


Structure

Parameter structure:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 423/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

1/0

encoder selection

Comment

00: no encoder
01: motor encoder
10: opt. encoder
11: measuring enc.
4

correction
0: deactivated
1: activated

Fig.4-105:
P-0-0341 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of P-0-0341


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.58

PM+OM
PM->OM
---

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0342, Correction value table for encoder correction


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This list parameter is used to store the correction values for "encoder correc
tion" by means of which it is possible to compensate signal shape errors of
sinusoidal or sinelike encoder signals.
See also Functional Description "Encoder Correction"

Use

P-0-0342 - Attributes

This parameter contains 2048 values. If all entries are "0", the command
"P00340, C3500 Command Determine encoder correction values" has not yet
been started. The values are angle correction values and cannot be interpreted
by the customer!
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Incr
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.59

PM+OM
PM->OM
---

Data length: 2Byte var.


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
-32767 / 32767
-32767 / 32767
-32767 / 32767

Default value
-------

P-0-0343, Encoder 1, cosine signal


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

424/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-closed loop

The current, analog-digital converted value of the voltage applied at the differ
ential input of track A of the motor encoder is displayed in this parameter.
See also Functional Description "Measuring Encoder"

Use

The level of the voltage applied at the differential input (between A+ and A-)
can be calculated:
Kind of motor encoder

Respective values of
P00074

Voltage between A+/A-

encoder with 1Vpp signals

1; 2; 4; 6; 8; 14

UA+/A-= P-0-0343 * 0.0003 *


1V

resolver encoder

3; 10

UA+/A-= P-0-0343 * 0.0026 *


1V

Calculating the current voltage level at the differential input of track A of


the motor encoder

Fig.4-106:
P-0-0343 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.60

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0344, Encoder 1, sine signal


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The current, analog-digital converted value of the voltage applied at the differ
ential input of track B of the motor encoder is displayed in this parameter.
See also Functional Description "Measuring Encoder"

Use

The level of the voltage applied at the differential input (between B+ and B-)
can be calculated:
Kind of motor encoder

Respective values of
P00074

Voltage between B+/B-

encoder with 1Vpp signals

1; 2; 4; 6; 8; 14

UB+/B-= P-0-0344 * 0.0003 *


1V

resolver encoder

3; 10 (with transfer ratio 0.5) UB+/B-= P-0-0344 * 0.0048 *


1V

Fig.4-107:
P-0-0344 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Calculating the current voltage level at the differential input of track B of


the motor encoder
Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 425/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.3.61

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0345, Encoder 2, cosine signal


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The current, analog-digital converted value of the voltage applied at the differ
ential input of track A of the external encoder is displayed in this parameter.
See also Functional Description "Measuring Encoder"

Use

The level of the voltage applied at the differential input (between A+ and A-)
can be calculated:
Kind of encoder

Respective values of
P00075

Voltage between A+/A-

encoder with 1Vpp signals

1; 2; 4; 8;

UA+/A-= P-0-0345 * 0.0003 *


1V

Resolver encoder (with


transfer ratio 0.5)

3; 10

UA+/A-= P-0-0345 * 0.0048 *


1V

Fig.4-108:
P-0-0345 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Calculating the current voltage level at the differential input of track A of


the external encoder
Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.62

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0346, Encoder 2, sine signal


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The current, analog-digital converted value of the voltage applied at the differ
ential input of track B of the external encoder is displayed in this parameter.
See also Functional Description "Measuring Encoder"

Use

The level of the voltage applied at the differential input (between B+ and B-)
can be calculated:

426/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Kind of encoder

Respective values of
P00075

Voltage between B+/B-

encoder with 1Vpp signals

1; 2; 4; 8;

UB+/B-= P-0-0346 * 0.0003 *


1V

resolver encoder (with


transfer ratio 0.5)

3; 10

UB+/B-= P-0-0346 * 0.0048 *


1V

Fig.4-109:
P-0-0346 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Calculating the current voltage level at the differential input of track B of


the external encoder
Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.63

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0347, Encoder 3, cosine signal


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The current, analog-digital converted value of the voltage applied at the differ
ential input of track A of the measuring encoder is displayed in this parameter.
See also Functional Description "Measuring Encoder"

Use

The level of the voltage applied at the differential input (between A+ and A-)
can be calculated:
Kind of measuring encoder

Respective values of
P00076

Voltage between A+/A-

encoder with 1 Vpp signals

1; 2; 4; 6; 8;

UA+/A-= P-0-0347 * 0.0003 *


1V

Fig.4-110:
P-0-0347 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Calculating the current voltage level at the differential input of track A of


the measuring encoder
Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.64

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0348, Encoder 3, sine signal


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 427/1033


and Controls

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
-"open loop", "closed loop"

MPD

The current, analog-digital converted value of the voltage applied at the differ
ential input of track B of the measuring encoder is displayed in this parameter.
See also Functional Description "Measuring Encoder"

Use

The level of the voltage applied at the differential input (between B+ and B-)
can be calculated:
Kind of measuring encoder Respective values of
P00076

Voltage between B+/B-

encoder with 1Vpp signals

UB+/B-= P-0-0348 * 0.0003 *


1V

Calculating the current voltage level at the differential input of track B of


the measuring encoder

Fig.4-111:
P-0-0348 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.65

1; 2; 4; 6; 8;

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0391, Actual position value difference encoder1 - encoder2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter indicates the difference of the actual position values of encod
er 1 and encoder 2. The value is updated every 2 msec.

P-0-0391
S-0-0051
S-0-0053

Actual position value difference encoder1 - encoder2


Actual position value encoder 1
Actual position value encoder 2

Fig.4-112:

Definition of actual position value difference P-0-0391

See also Functional Description "Monitoring the Measuring Systems"


P-0-0391 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

428/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.3.66

P-0-0393, IDN groups: control word


Allocation

Function

Use

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter determines which IDN group is output in "P00394, IDN groups:
list".
P-0-0393

P-0-0394

IDN groups: con


trol word

IDN groups: list

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 (S00076).

0011H

All parameters with speed scaling (S00044).

0012H

All parameters with acceleration scaling (S00160).

0013H

All parameters with torque scaling (S00086).

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 scal
ing-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 possi
bility to recognize the different characteristics of the attributes. Up to now
SERCOS hasn't provided any procedure for this purpose. An aggravating fact
is that the existing parameters are depending on the firmware version.
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 var
iants.
The current enabling of functional packages is taken into account
for determination by means of the list.

P-0-0393 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.3.67

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0394, IDN groups: list


Allocation

Contained in 02VRS:
Contained in 03VRS:

MPB
MPB

MPH
MPH

MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 429/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD

This parameter contains the IDN group selected in parameter "P00393, IDN
groups: control word".
See also Parameter Description "P-0-0393, IDN groups: control word"

P-0-0394 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.3.68

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0395, Average value filter for display: signal selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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


The two filters are independent of each other and can be separately
activated or deactivated. The average value filter for display is cal
culated in the position clock (TA,position)!

430/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Fig.4-113:
Use

Function - average value filter for display

Observe the following aspects for signal selection:

It is only possible to select signals from parameter "P00396, Average


value filter for display: signal selection list".

The filter function is deactivated when "S00000" is selected as signal.

Observe the following aspects in conjunction with the recording of the signals
in the oscilloscope function or the output at the analog outputs:

You have to observe the order of parameterization!

If first the signal for the average value filter for display is set and then
the same signal is selected as measuring signal in the oscilloscope,
the filtered value is recorded in the oscilloscope.

If the order is inverse, the non-filtered value is recorded.

If the signal for the average value for display is changed or cleared, au
tomatic switching does not take place in the case of the oscilloscope
function. The has to be selected again as measuring signal.

See also Parameter Description "P-0-0396, Average value filter for display:
signal selection list"
See also Parameter Description "P-0-0397, Average value filter for display: time
constant"
P-0-0395 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.69

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0396, Average value filter for display: signal selection list


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 431/1033


and Controls

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
-"open loop", "closed loop"

MPD

Parameter S00396 contains all parameters (IDNs) which can be used as sig
nals for the average value filters for display (cf. "S00395, Average value filter
for display: signal selection").
See also Parameter Description "P-0-0395, Average value filter for display:
signal selection"
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

....
As the content of the list can be permanently extended, it is recom
mended to read the list at the respective drive to get the current list
content.

P-0-0396 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.3.70

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0397, Average value filter for display: time constant


Allocation

Contained in 02VRS:
Contained in 03VRS:

MPB
MPB

MPH
MPH

MPD
MPD

432/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD

This parameter is used to parameterize the filter effect (= time constant of the
PT1 filter) of the average value filters for display. It has exactly 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 separately
activated or deactivated. The average value filter for display is cal
culated in the position clock (TA,position)!

Fig.4-114:
Use

P-0-0397 - Attributes

P-0-0397, Average value filter for display: time constant

The following has to be observed for parameterization:

With "0" the filter function is inactive in spite of signal input!

Inputs on a time base of 0.5 ms (max. position loop clock) are accepted.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

4.3.71

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
0,0 / 2000,0
0,0 / 2000,0
0,0 / 2000,0

Default value
-------

P-0-0400, Axis correction external correction value


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

MPH
MPH
MPH
MPH

-
-
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 433/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-Servo(compensation)

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 P00400 has been included
in the master data telegram. The values for P00400 must have position scaling
according to "S00076, Position data scaling type". The control-side correction
is contained in the "servo" expansion package and is only available after func
tional package has been enabled.
See also Parameter Description "S-0-0076, Position data scaling type"

P-0-0400 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
--

Unit:

S-0-0076

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.3.72

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0401, Axis correction active correction value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter displays the currently effective correction value for the actual
position value.
The actual position value system to be corrected is selected via the
respective bit of "P00413, Axis correction control word".
See also Functional Description "Axis Error Correction"
See also Parameter Description "S-0-0076, Position data scaling type"

P-0-0401 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.3.73

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-0402, Axis correction reference temperature


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
MPB

MPH
MPH
MPH
MPH

-
-
MPD
MPD

434/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-Servo(compensation)

The reference temperature for the position-dependent and the position-inde


pendent, temperature-related axis error correction is entered in this parameter.
See also Functional Description "Axis Error Correction"

P-0-0402 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
S-0-0208
MDT

Input
MPB:
MPD:
MPH:

4.3.74

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

min./max.
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208

Default value
20,0
20,0
20,0

P-0-0403, Axis correction reference position for temp. corr.


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
MPB
MPH
-Servo(compensation)

-
-
MPD
MPD

The reference position for the position-dependent, temperature-related axis er


ror correction is entered in this parameter.
For determining the value of P00403 see Functional Description "Axis Error
Correction"

P-0-0403 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
--

Unit:

S-0-0076

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.3.75

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0404, Axis correction actual temperature pos.-dependent


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
MPB
MPH
-Servo(compensation)

-
-
MPD
MPD

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:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
S-0-0208
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 435/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.3.76

min./max.
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208

Default value
20,0
20,0
20,0

P-0-0405, Axis correction actual temperature pos.-independent


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
MPB
MPH
-Servo(compensation)

-
-
MPD
MPD

Via this parameter the actual temperature of the axis can be transmitted to the
controller. This value acts on the position-independent, temperature-related
axis error correction.
See also Functional Description "Axis Error Correction"

P-0-0405 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
S-0-0208
MDT

Input
MPB:
MPD:
MPH:

4.3.77

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

min./max.
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208

Default value
20,0
20,0
20,0

P-0-0406, Axis correction temperature factor pos.-dependent


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
MPB
MPH
-Servo(compensation)

-
-
MPD
MPD

The position-dependent temperature correction factor is entered in this param


eter. The value is scaled with 1/Kelvin (1/K).
For determining the value of P00406 see Functional Description "Axis Error
Correction"

Use

P-0-0406 - Attributes

The position-dependent temperature correction is used to compensate for the


temperature-dependent linear expansion of the mechanical transfer elements
of a servo axis or the measuring system. The function becomes active when
the correction factor is unequal "0", it is contained in the "servo" expansion
package.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
1/K
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

min./max.
StdNul / 10,000000
StdNul / 10,000000
StdNul / 10,000000

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
6
set switchable: -Default value
0,000000
0,000000
0,000000

436/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.3.78

P-0-0407, Axis correction temperature factor pos.-independent


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
MPB
MPH
-Servo(compensation)

-
-
MPD
MPD

The position-independent temperature correction factor is entered in this pa


rameter. The value is scaled with the quotient position data scaling 10K
(S00076/10K).
For determining the value of P00407 see Functional Description "Axis Error
Correction"

Use

P-0-0407 - Attributes

The position-independent temperature correction is used to compensate for


purely temperature-dependent linear expansion of tools, workpieces and
slides. The function becomes active when the correction factor is unequal "0".
Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
--

Unit:

S-0-0076

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.79

Extr. val. ch.:

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0408, Axis correction start position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
-Servo(compensation)

-
-
MPD
MPD

The start position of the correction range for the precision axis error correction
is determined in this parameter. The correction range is between P00408 and
"P00409, Axis correction end position".
The actual position value system to be corrected is selected via the
respective bit of "P00413, Axis correction control word".
See also Functional Description "Axis Error Correction"

P-0-0408 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
0,0000
0,0000
0,0000

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 437/1033


and Controls

Product-Specific Parameters

4.3.80

P-0-0409, Axis correction end position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
-Servo(compensation)

-
-
MPD
MPD

The end position of the correction range for the precision axis error correction
is displayed in this parameter. The correction range is between "P00408, Axis
correction start position" and P00409.
The actual position value system to be corrected is selected via the
respective bit of "P00413, Axis correction control word".
See also Functional Description "Axis Error Correction"

P-0-0409 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: --

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.81

Data length:
Format:

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0410, Axis correction support point distance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
-Servo(compensation)

-
-
MPD
MPD

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 "P00411" or "P00412, Axis correction, correction table positive/
negative" are referring to the support points of the correction range.
With the value "0" in P00410 the precision axis error correction is
deactivated, if the value is greater than "0" it is activated!
See also Functional Description "Axis Error Correction"

Use

Record of Modifications

P-0-0410 - Attributes

The correction range is between "P00408, Axis correction start position" and
"P00409, Axis correction end position" and has a number of support points
corresponding to the maximum number of lines from "P00411" or "P00412".
The value of "P00410" is the distance between the neighboring support points.
Version

Attribute

GEN-02VRS

MPB Default value: 1

GEN-02VRS

MPH Default value: 1

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

Comment

PM
PM->OM

Data length:
Format:

4Byte
DEC_MV

438/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:

S-0-0076

Extr. val. ch.:

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.82

S-0-0077 /
S-0-0078
set switchable: -Decim. pl.:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
-------

P-0-0411, Axis correction, correction table positive


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
-Servo(compensation)

-
-
MPD
MPD

For precision axis error correction the position correction values for the support
points of the correction range are entered in the table lines of this list parameter.
The correction values for P00411 have to be determined with positive direc
tion 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!
Table line index

P-0-0411 (positive direction)

0 (corr. value at start position P-0-0408)

corr. value at support point 2

corr. value at support point 3

corr. value at support point 4

corr. value at support point 5

corr. value at support point 6

...

...

498

corr. value at support point 499

499

0 (corr. value at end position P-0-0409)

Fig.4-115:

Assignment of support point correction values to table line index of cor


rection tables P-0-0411 when using 500 support points

The number of correction values can be 6...500, otherwise the error


"datum not correct" is signaled when this parameter is written!
P-0-0411 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 439/1033


and Controls

Product-Specific Parameters

4.3.83

P-0-0412, Axis correction, correction table negative


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
-Servo(compensation)

-
-
MPD
MPD

For precision axis error correction the position correction values for the support
points of the correction range are entered in the table lines of this list parameter.
The correction values for P00412 have to be determined with negative direc
tion of motion because they only take effect in the drive with negative 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!
Table line index

P-0-0412 (negative direction)

0 (corr. value at start position P-0-0408)

corr. value at support point 2

corr. value at support point 3

corr. value at support point 4

corr. value at support point 5

corr. value at support point 6

....

....

498

corr. value at support point 499

499

0 (corr. value at end position P-0-0409)

Fig.4-116:

Assignment of support point correction values to table line index of cor


rection tables P-0-0412 when using 500 support points

The number of correction values can be 6...500, otherwise the error


"datum not correct" is signaled when this parameter is written!
P-0-0412 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.3.84

Extr. val. ch.:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
-------

P-0-0413, Axis correction control word


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

440/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-closed loop

By means of axis error correction it is possible to correct systematic errors of


the mechanical system and the measuring systems in the actual position value
system. The actual position value system to be corrected is selected in this
parameter.
See also Functional Description "Axis Error Correction"

Structure

Bit

Designation/function

Comment

actual position value correction of motor encoder


0: no
1: yes

actual position value correction of external encoder


0: no
1: yes

Fig.4-117:
P-0-0413 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of P-0-0413


Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.85

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0/2
0/2
0/2

Default value
0
0
0

P-0-0414, Analog Output 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter indicates the voltage value that is output via the analog output 3
of the drive controller.
See also Functional Description "Analog Outputs"

P-0-0414 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V
AT + MDT

Input
MPB:
MPD:
MPH:

4.3.86

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
-10,000 / 10,000
-10,000 / 10,000
-10,000 / 10,000

Default value
0,000
0,000
0,000

P-0-0415, Analog Output 4


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 441/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

This parameter indicates the voltage value that is output via the analog output 4
of the drive controller.
See also Functional Description "Analog Outputs"

P-0-0415 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V
AT + MDT

Input
MPB:
MPD:
MPH:

4.3.87

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
-10,000 / 10,000
-10,000 / 10,000
-10,000 / 10,000

Default value
0,000
0,000
0,000

P-0-0416, Analog Output 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
drives optional card
"open loop", "closed loop"

-
-
MPD
MPD

This parameter displays the voltage value that is output via the analog output 5
of the drive controller.
Analog output 5 is only available in conjunction with a double-axis
device with configuration of 2 optional cards MA1!
See also Functional Description "Analog Outputs"

P-0-0416 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V
AT + MDT

Input
MPB:
MPD:
MPH:

4.3.88

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
-10,000 / 10,000
-10,000 / 10,000
-10,000 / 10,000

Default value
0,000
0,000
0,000

P-0-0417, Analog Output 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
drives optional card
"open loop", "closed loop"

-
-
MPD
MPD

This parameter displays the voltage value that is output via the analog output 6
of the drive controller.
Analog output 6 is only available in conjunction with a double-axis
device with configuration of 2 optional cards MA1!
See also Functional Description "Analog Outputs"

442/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0417 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V
AT + MDT

Input
MPB:
MPD:
MPH:

4.3.89

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
-10,000 / 10,000
-10,000 / 10,000
-10,000 / 10,000

Default value
0,000
0,000
0,000

P-0-0418, Analog output, assignment A, signal value at 0V


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter the reference of the analog output of assignment A (value with
an output of 0 V) is defined. The unit is determined by the parameter assigned
in "P00420, Analog output, assignment A, signal selection".
When assigning parameters with the "binary" display attribute, the parameter
is not active.
See also Functional Description "Analog Outputs"

P-0-0418 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.3.90

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0419, Analog output, assignment B, signal value at 0V


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter the reference of the analog output of assignment B (value with
an output of 0 V) is defined. The unit is determined by the parameter assigned
in "P00423, Analog output, assignment B, signal selection".
When assigning parameters with the "binary" display attribute, the parameter
is not active.
See also Functional Description "Analog Outputs"

P-0-0419 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 443/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.3.91

--- / ----- / ---

0
0

P-0-0420, Analog output, assignment A, signal selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to assign a parameter IDN to the


analog outputs 1 and 3 of the drive controller. The current parameter value is
output as voltage at the analog output, if the mode of the analog output in
"P00427, Control parameter of analog output" has been set to output of
assignment A. The output voltage can be made visible with an oscilloscope, for
example.
It is only possible to assign those IDNs that have been entered in the "P00426,
Analog output IDN list of assignable parameters" list.
See also Functional Description "Analog Outputs"

P-0-0420 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.92

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0422, Analog output, assignment A, scaling [1/V]


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to scale the voltage output by analog output 1 and 3.
The unit is determined by the parameter assigned in "P00420, Analog output,
assignment A, signal selection".
When assigning parameters with the "binary" display attribute, the number of
the bit to be output at the analog output is defined in this parameter. When the
respective bit has not been set, the output voltage is 0 V. When the bit has been
set, 1 V is output.
See also Functional Description "Analog Outputs"

P-0-0422 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0
0
0

444/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.3.93

P-0-0423, Analog output, assignment B, signal selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to assign a parameter IDN to the


analog outputs 2 and 4 of the drive controller. The current parameter value is
output as voltage at the analog output, if the mode of the analog output in
"P00427, Control parameter of analog output" has been set to output of
assignment B. The output voltage can be made visible with an oscilloscope, for
example.
It is only possible to assign those IDNs that have been entered in the "P00426,
Analog output IDN list of assignable parameters" list.
See also Functional Description "Analog Outputs"

P-0-0423 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.94

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0425, Analog output, assignment B, scaling [1/V]


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to scale the voltage output by analog output 2 and 4.
The unit is determined by the parameter assigned in "P00423, Analog output,
assignment B, signal selection".
When assigning parameters with the "binary" display attribute, the number of
the bit to be output at the analog output is defined in this parameter. When the
respective bit has not been set, the output voltage is 0 V. When the bit has been
set, 1 V is output.
See also Functional Description "Analog Outputs"

P-0-0425 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0
0
0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 445/1033


and Controls

Product-Specific Parameters

4.3.95

P-0-0426, Analog output IDN list of assignable parameters


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains a list of all parameter IDNs that can be assigned via

"P-0-0420, Analog output, assignment A, signal selection" and

"P-0-0423, Analog output, assignment B, signal selection"

See also Functional Description "Analog Outputs"


P-0-0426 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.96

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0427, Control parameter of analog output


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This configuration parameter determines the signal source and conditions for
the analog outputs.
See also Functional Description "Analog Outputs"

Structure

Bit

Designation/function

assignment A, limitation

Comment

0: overflow
1: limitation
2

analog output 1, signal source


0: direct output of voltage signals via P00139
1: output of parameter values via "analog output: assignment
A"

analog output 3, signal source


0: direct output of voltage signals via P00414
1: output of parameter values via "analog output: assignment
A"

only with
CDB01.1C or
CSH01.1C

446/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

Comment

analog output 5, signal source

assignment B, limitation

as of
MP*04VRSon
0: direct output of voltage signals via P00428
ly
1: output of parameter values via "analog output: assignment withCDB01.1
A"
C
0: overflow
1: limitation

10

analog output 2, signal source


0: direct output of voltage signals via P00140
1: output of parameter values via "analog output: assignment
B"

12

analog output 4, signal source


0: direct output of voltage signals via P00415
1: output of parameter values via "analog output: assignment
B"

13

analog output 6, signal source

as of
MP*04VRSon
0: direct output of voltage signals via P00429
ly
1: output of parameter values via "analog output: assignment withCDB01.1
B"
C

Fig.4-118:
Use

only with
CDB01.1C or
CSH01.1C

Relevant bits of P-0-0427, Control parameter of analog output

To be noticed when using double-axis devices (CDB01.1-...):

The analog outputs available at the device are used by both axes.

The parameters (IDNs) assigned to the respective analog output are iden
tical for both axes.

For each analog output, IDN assignment (P00420, P00423) therefore


is only possible by one of the two axes!

Assignment is existent when "analog output 1...6, signal source" was


set to "1".

"0" means "no assignment" but direct output of the parameter as


signed to the analog output.

If there is no IDN assignment by both axes is existent on the respective analog


output, the parameter directly assigned to the analog output can be written by
both axes. The value last written is active, unless the parameter directly as
signed is cyclically written for one of both axes!
P-0-0427 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 447/1033


and Controls

Product-Specific Parameters

4.3.97

P-0-0434, Position command value of controller


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter is used to display the position command value effective at the
position loop input. Depending on the active operating mode, this position com
mand value can be

the filtered position command value generated by the drive (e.g. in the
case of interpolation modes)

the position command value cyclically set by a control unit and fine-inter
polated and filtered in the drive.
The internal position command value "P00434, Position command
value controller" is generated in the position loop clock (cf.
P00556)!

See also Functional Description "Cyclic Position Control"


See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Internal Interpolation"
See also Functional Description "Synchronization Modes"
P-0-0434 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT

Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.98

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0435, Control word of position controller


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)

MPD
MPD
MPD
MPD

In this parameter it is possible to activate additional functions of the position


loop.
Bit

Designation/function

quadrant error correction


0: inactive
1: active

Fig.4-119:

Relevant bits of P-0-0435

Comment

448/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0435 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.99

PM+OM
-+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
StdNul / StdOne
StdNul / StdOne
StdNul / StdOne

Default value
0
0
0

P-0-0436, Reference radius for quadrant error correction


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)

MPD
MPD
MPD
MPD

Function

In this parameter the radius of a circular path, that is used as reference for
quadrant error correction, is determined.

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"

Record of Modifications

P-0-0436 - Attributes

Version

Attribute

GEN-02VRS

Editability: P2

GEN-02VRS

Validity ch.: P2-3

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.100

Comment

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
100,0000
100,0000
100,0000

P-0-0437, Velocity time range for quadrant error correction


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)

MPD
MPD
MPD
MPD

In this parameter the absolute value of the velocity time range of the velocity
pulse is entered that, with active quadrant error correction, is added to the ve
locity command value in case the direction of movement is changed.
The value "0" deactivates the quadrant error correction!
See also Functional Description "Quadrant Error Correction"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 449/1033


and Controls

Product-Specific Parameters
P-0-0437 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0044

Cycl. tra.: --

Extr. val. ch.:

4Byte
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.101

Data length:
Format:

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
0,0000
0,0000
0,0000

P-0-0438, Table of path velocities for quadrant error correction


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)

MPD
MPD
MPD
MPD

This parameter corresponds to "P00439, Table of velocity pulse for quadrant


error correction".
In the lines of this list parameter a maximum of 20 path velocities can be entered
in ascending order. A velocity pulse amplitude for quadrant error correction can
be assigned in P00439 to each entered path velocity.
See also Functional Description "Quadrant Error Correction"

Record of Modifications

P-0-0438 - Attributes

Version

Attribute

GEN-02VRS

Memory: PARAM_SP

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.3.102

Comment

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-0439, Table of velocity pulse for quadrant error correction


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)

MPD
MPD
MPD
MPD

This parameter corresponds to "P00438, Table of path velocities for quadrant


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 veloc
ities of the corresponding lines of P00438.
See also Functional Description "Quadrant Error Correction"

450/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0439 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0044

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.103

Extr. val. ch.:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-0440, Actual output current value (absolute value)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Display parameter for the measured actual current value which is the rms value
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 parameter
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:
Memory:
Unit:
Cycl. tra.:

Par
-A eff
AT

Input
MPB:
MPD:
MPH:

4.3.104

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0441, Overload warning


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Parameter for determining a threshold value for the thermal controller work
load.
If the value displayed in "P00141, Thermal drive load" exceeds the determined
threshold, the warning "E2061 Amplifier overload prewarning" is generated.
The unit of the threshold value corresponds to the one of P00141 (%).
When 100% is entered, "E2061 Amplifier overload prewarning" is
not displayed. Instead, the warning "E8057 Amplifier overload, cur
rent limit active" is already generated with approx. 97% of the
thermal work load.

P-0-0441 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

2Byte
DEC_OV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 451/1033


and Controls

Product-Specific Parameters
Unit:
%
Cycl. tra.: AT

Extr. val. ch.: +


Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.105

Decim. pl.:
0
set switchable: --

min./max.
0 / 100
0 / 100
0 / 100

Default value
80
80
80

P-0-0442, Actual value torque limit positive (stationary)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Display parameter for the effective positive torque limit value. The value dis
played is the lowest 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"

work load-dependent limits by motor and controller

motor depending limits.

See also Functional Description "Torque/Force Limitation"


Use

P-0-0442 - Attributes

The unit for the values of this parameter depends on the scaling that has been
set ("S00086, Torque/force data scaling type").

P00442 displays the positive torque/force limit value (with


regard to load torque/load force) effective at a stationary (con
stant) velocity. For acceleration processes a higher limit value
can be effective, if the lower value of P00109 and S00092
is greater than S00082 and the acceleration feedforward has
been activated.

Parameter "P00444, Actual value peak torque limit" shows


the maximum allowed drive torque or the maximum allowed
drive force (stationary load torque + acceleration torque) ef
fective for acceleration processes.

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.3.106

Comb. check: --

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0443, Actual value torque limit negative (stationary)


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

452/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

Display parameter for the effective negative torque limit value. The value dis
played is the lowest 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

work-load-dependent limits by motor and controller

motor-dependent limits.

See also Functional Description "Torque/Force Limitation"


Use

P-0-0443 - Attributes

The unit for the values of this parameter depends on the scaling that has been
set (S00086, Torque/force data scaling type).

P00443 displays the negative torque/force limit value (with


regard to load torque/load force) effective at a stationary (con
stant) velocity. For acceleration processes a higher limit value
can be effective, if the lower value of P00109 and S00092
is greater than S00083 and the acceleration feedforward has
been activated.

Parameter "P00444, Actual value peak torque limit" shows


the maximum allowed drive torque or the maximum allowed
drive force (stationary load torque + acceleration torque) ef
fective for acceleration processes.

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT

Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.107

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0444, Actual value peak torque limit


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 ("S00086, Torque/force data scaling type").

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 453/1033


and Controls

Product-Specific Parameters
See also Functional Description "Torque/Force Limitation"
P-0-0444 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT

Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.108

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0445, Status word torque/current limit


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains the status messages (bits) for the torque/current lim
itation.
See also Functional Description "Torque/Force and Current Limitation"

Structure

The individual bits of the parameter have the following significance:


Bit

Designation/function

positive torque command value limited?


0: no: P-0-0442 = S-0-0082
1: yes: P-0-0442 < S-0-0082

negative torque command value limited?


0: no: P-0-0443 = S-0-0083
1: yes: |P-0-0443| < |S-0-0083|

3,2

reserved

amplifier overload warning (E2061)?


0: no: P-0-0141 < P-0-0441
1: yes: P-0-0141 >= P-0-0441

speed-dependent torque limitation


0: limitation not active
1: limitation active: maximum torque < min (S-0-0109 /
S-0-0110)

regenerative power limitation


0: limitation not active
1: limitation active: maximum torque < min (S-0-0109 /
S-0-0110)

torque/force limitation equal zero (E2056)? (P-0-0442=0 or


P-0-0443=0 or P-0-0444 =0 ?)
0: no
1: yes

Comment

454/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

Comment

amplifier overload peak current limitation active?


0: no
1: yes

motor overload (E8055), peak current limitation active?


0: no
1: yes

10

reserved

1311

effective current limitation


display of limitation resulting in active limit value P00444
000: no limitation active
001: amplifier temperature model

as of
MP*03V20
as of
MP*04VRS

010: motor temperature model


011: speed-dependent torque limitation
100: regenerative limitation
101: S-0-0092
110: P-0-0109
111: motive torque switched off
14

E2051 Motor overtemp. prewarning active?


0: no
1: yes

15

F2019 Motor overtemperature shutdown or F2021 Motor tem


perature monitor defective?
0: no
1: yes

Fig.4-120:
P-0-0445 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Structure of P-0-0445, Status word torque/current limit


Par
--AT

Input
MPB:
MPD:
MPH:

4.3.109

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0451, Actual acceleration torque/force value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The acceleration torque is determined from the total inertia (determined using
the automatic control loop setting) and the value in "S00164, Acceleration

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 455/1033


and Controls

Product-Specific Parameters
feedback value 1". The acceleration torque is displayed in "P00451, Actual
acceleration torque/force value".
P-0-0451 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.3.110

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-0452, Actual process torque/force value


Allocation

Function

P-0-0452 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The current process torque is determined from the current total torque in pa
rameter "S00084, Torque/force feedback value" and the determined
"P00451, Actual acceleration torque/force value". The process torque is dis
played in "P00452, Actual process torque/force value".
Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.3.111

Data length:
Format:

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-0453, Integral-action component velocity loop


Allocation

Function
P-0-0453 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The integral-action component of the velocity loop is displayed in parameter


P00453.
Function: Par
Memory: --

Editability:
Validity ch.:

OM
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:

Comb. check: -min./max.


S-0-0086 / S-0-0086

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: -Default value
---

456/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.3.112

S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

-----

P-0-0454, Velocity feedforward actual value


Allocation

Function
Use

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter displays the present velocity feedforward value.


In the case of lagless operating modes, the velocity feedforward is calculated
in the position loop from the position command values and depending on
"P00040, Velocity feedforward evaluation" is added to the velocity command
value.
The parameter depends on "S0-0044, Velocity data scaling type".

P-0-0454 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.3.113

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-0455, Acceleration feedforward actual value


Allocation

Function
Use

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter displays the present acceleration feedforward value.


The acceleration feedforward is generated as follows:
1.

For lagless, position-controlled operating modes the feedforward value is


calculated from the position command values, depending on "S00348,
Acceleration feedforward gain".

2.

In velocity control the feedforward value is calculated from the velocity


command values, depending on "P01126, Velocity control loop: accel
eration feedforward".

The parameter depends on "S0-0086, Torque/force data scaling type".


P-0-0455 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

Comb. check: -min./max.


--- / ----- / ----- / ---

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 457/1033


and Controls

Product-Specific Parameters

4.3.114

P-0-0460, Module group, control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays the information that is transmitted by a device (inverter


or converter) to the module bus. Due to the hierarchical structure of the module
bus, only the most significant information takes effect!
This parameter only displays the control information that the re
spective controller is transmitting via the module bus. The bits of
this parameter cannot be externally written!

Structure

Bit

Designation/function

Comment

All module bus nodes without error?


0: no
1: yes

Ready for power output ("DC bus ok")?


0: no
1: yes

Prewarning supply overload?


0: no
1: yes

DC bus voltage error, mains failure ("DC bus not ok")?


0: no
1: yes

Inverter error?
0: no
1: yes

Supply error?
0: no
1: yes

Clear supply error?


0: not active
1: active

Module bus communication error?


0: no
1: yes

Fig.4-121:
P-0-0460 - Attributes

Function: Par
Memory: --

Relevant bits of P-0-0460


Editability:
Validity ch.:

nein
--

Data length:
Format:

2Byte
BIN

458/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: AT

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.115

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0461, Module group, status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays the currently active information of the module bus.
See also Functional Description "Power Supply"

Structure

Bit

Designation/function

Comment

All module bus nodes without error?


0: no
1: yes

Ready for power output ("DC bus ok")?


0: no
1: yes

Prewarning supply overload?


0: no
1: yes

DC bus voltage error, mains failure ("DC bus not ok")?


0: no
1: yes

Inverter error?
0: no
1: yes

Supply error?
0: no
1: yes

Clear supply error?


0: not active
1: active

Module bus communication error?


0: no
1: yes

Fig.4-122:
P-0-0461 - Attributes

Function: Par
Memory: --

Relevant bits of P-0-0461


Editability:
Validity ch.:

nein
--

Data length:
Format:

2Byte
BIN

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 459/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: AT

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.3.116

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0477, Logbook axis number


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays the logic axis number of the last entry in "P00478,
Logbook event".

0 = logic axis "0" (left axis)

1 = logic axis "1" (right axis)

0xFFFF = both axes


Users cannot utilize this parameter! It is write-protected and cannot
be changed!

P-0-0477 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.3.117

PM+OM
----

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0478, Logbook event


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 subject
to internal states. The entry time is retained in "P00479, Logbook time stamp".
The value displayed in this parameter can only be interpreted with
internal knowledge of the firmware! Therefore, the user cannot uti
lize this parameter! It is write-protected and cannot be changed!

P-0-0478 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

PM+OM
PM->OM
---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

460/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.3.118

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0479, Logbook time stamp


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays the time of the last entry in "P00478, Logbook event".
At the respective point of time, the value of "P00190, Operating hours control
section" is retained in parameter P00478.
Therefore, users cannot utilize this parameter! It is write-protected
and cannot be changed!

P-0-0479 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
s
Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.3.119

PM+OM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0480, Patch function 1, source pointer


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter allows selecting a controller-internal memory cell. This memory


cell can be read or written by means of the patch function 1.
See also Functional Description
The patch function allows the development staff to diagnose inter
nal signal states and data; customers cannot use this function!
Therefore, only the development staff know the values of this pa
rameter (memory addresses)!
See also Functional Description "Patch Function"

P-0-0480 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ---

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 461/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.3.120

--- / ----- / ---

-----

P-0-0481, Patch function 1, attribute


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter the access to and output of the controller-internal


memory address selected in "P00480, Patch function 1, source pointer" are
configured.
See also Functional Description "Patch Function"

Structure

Bit

Designation/function

2/1/0

type of source data

Comment

0: INT4
1: INT2
2: INT1
3: FLOAT8
4: FLOAT4
6/5/4

output format of source data


0: BIN
1: DEZ m VZ
2: DEZ o VZ
3: HEX
4: FLOAT
5: BOOL

Fig.4-123:

Relevant bits of parameter P00481

The patch function allows the development staff to diagnose inter


nal signal states and data; customers cannot use this function!
P-0-0481 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.121

PM+OM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
48
48
48

P-0-0482, Patch function 1, bit mask


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

462/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

This parameter defines a bit mask that acts on the output of the value of the
controller-internal memory cell selected by "P00480, Patch function 1, source
pointer". This parameter acts subject to "P00481, Patch function 1, attribute".
It is only active in certain configuration constellations.
The patch function allows the development staff to diagnose firm
ware-internal signal states and data; customers cannot use this
function!
See also Functional Description "Patch Function"

P-0-0482 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.122

PM+OM
PM->OM
---

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0xFFFFFFFF
0xFFFFFFFF
0xFFFFFFFF

P-0-0483, Patch function 1, exponent


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines an exponent that acts on the output of the value of the
controller-internal memory cell selected by "P00480, Patch function 1, source
pointer". This parameter acts subject to "P00481, Patch function 1, attribute".
It is only active in certain configuration constellations.
The patch function allows the development staff to diagnose inter
nal signal states and data; customers cannot use this function!
See also Functional Description "Patch Function"

P-0-0483 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.123

PM+OM
PM->OM
---

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
-32 / 32
-32 / 32
-32 / 32

Default value
0
0
0

P-0-0485, Patch function 1, display


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 463/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

By means of this parameter it is possible to read or write a value to the content


of a controller-internal memory cell. Further specifications and configurations
are made in the other parameters relevant to the patch function (for details
please see the Functional Description).
The patch function allows the development staff to diagnose firm
ware-internal signal states and data; customers cannot use this
function! As unqualified writing to this parameter can interfere with
the drive function, this parameter is write-protected!
See also Functional Description "Patch Function"

P-0-0485 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.124

PM+OM
-+
--

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
0 / 10000
0 / 10000
0 / 10000

Default value
0
0
0

P-0-0486, Patch function 2, source pointer


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter allows selecting a controller-internal memory cell. This memory


cell can be read or written by means of the patch function 2.
See also Functional Description
The patch function allows the development staff to diagnose inter
nal signal states and data; customers cannot use this function!
Therefore, only the development staff know the values of this pa
rameter (memory addresses)!
See also Functional Description "Patch Function"

P-0-0486 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.125

PM+OM
PM->OM
---

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0487, Patch function 2, attribute


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

464/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

By means of this parameter the access to and output of the controller-internal


memory address selected in "P00486, Patch function 2, source pointer" are
configured.
See also Functional Description "Patch Function"

Structure

Bit

Designation/function

0/1/2

type of source data

Comment

0: INT4
1: INT2
2: INT1
3: FLOAT8
4: FLOAT4
4/5/6

output format of source data


0: BIN
1: DEZ m VZ
2: DEZ o VZ
3: HEX
4: FLOAT
5: BOOL

Fig.4-124:

Relevant bits of parameter P-0-0487

The patch function allows the development staff to diagnose inter


nal signal states and data; customers cannot use this function!
P-0-0487 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.126

PM+OM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
48
48
48

P-0-0488, Patch function 2, bit mask


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a bit mask that acts on the output of the value of the
controller-internal memory cell selected by "P00486, Patch function 2, source
pointer". This parameter acts subject to "P00487, Patch function 2, attribute".
It is only active in certain configuration constellations.
The patch function allows the development staff to diagnose inter
nal signal states and data; customers cannot use this function!

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 465/1033


and Controls

Product-Specific Parameters
See also Functional Description "Patch Function"
P-0-0488 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.127

PM+OM
PM->OM
---

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0xFFFFFFFF
0xFFFFFFFF
0xFFFFFFFF

P-0-0489, Patch function 2, exponent


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines an exponent that acts on the output of the value of the
controller-internal memory cell selected by "P00486, Patch function 2, source
pointer". This parameter acts subject to "P00487, Patch function 2, attribute".
It is only active in certain configuration constellations.
The patch function allows the development staff to diagnose firm
ware-internal signal states and data; customers cannot use this
function!
See also Functional Description "Patch Function"

P-0-0489 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.128

PM+OM
PM->OM
---

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
-32 / 32
-32 / 32
-32 / 32

Default value
0
0
0

P-0-0491, Patch function 2, display


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to read or write a value to the content


of a controller-internal memory cell. Further specifications and configurations
are made in the other parameters relevant to the patch function.
The patch function allows the development staff to diagnose firm
ware-internal signal states and data; customers cannot use this
function! As unqualified writing to this parameter can interfere with
the drive function, this parameter is write-protected!

466/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Patch Function"
P-0-0491 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.129

PM+OM
-+
--

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
0 / 10000
0 / 10000
0 / 10000

Default value
0
0
0

P-0-0492, PLC patch function 1, data source


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

This parameter allows selecting a memory cell of the PLC. This memory cell
can be read by means of the PLC patch function 1, display. The parameter is
an ASCII string (256 characters). Address selection takes place via (area/offset)
from the symbol file of the PLC. The data type (sign, number of bytes) and the
display format can be added to the address selection as a string in commaseparated form.
The following strings are allowed as data type:
BOOL

1 byte

BYTE, USINT

1 byte unsigned

SINT

1 byte signed

WORD, UINT

2 bytes unsigned

INT

2 bytes signed

DWORD, UDINT

4 bytes unsigned

DINT

4 bytes signed

REAL

4 bytes

Fig.4-125:

Data type

The following output formats can be evaluated:


2#

binary display

10#

decimal display

16#

hexadecimal display

The IndraWorks input support allows easily using the function for
displaying and recording PLC variables.
See also Functional Description "Patch Function"
P-0-0492 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 467/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.3.130

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0493, PLC patch function 1, display


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

This parameter displays the content of a memory cell selected via the PLC
patch function.
The IndraWorks input support allows easily using the function for
displaying and recording PLC variables.
See also Functional Description "Patch Function"

P-0-0493 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.3.131

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0494, PLC patch function 2, data source


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

This parameter allows selecting a memory cell of the PLC. This memory cell
can be read by means of the PLC patch function 2, display. The parameter is
an ASCII string (256 characters). Address selection takes place via (area/offset)
from the symbol file of the PLC. The data type (sign, number of bytes) and the
display format can be added to the address selection as a string in commaseparated form.
The following strings are allowed as data type:
BOOL

1 byte

BYTE, USINT

1 byte unsigned

SINT

1 byte signed

WORD, UINT

2 bytes unsigned

INT

2 bytes signed

DWORD, UDINT

4 bytes unsigned

468/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
DINT

4 bytes signed

REAL

4 bytes

Fig.4-126:

Data type

The following output formats can be evaluated:


2#

binary display

10#

decimal display

16#

hexadecimal display

The IndraWorks input support allows easily using the function for
displaying and recording PLC variables.
See also Functional Description "Patch Function"
P-0-0494 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.132

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0495, PLC patch function 2, display


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

This parameter displays the content of a memory cell selected via the PLC
patch function.
The IndraWorks input support allows easily using the function for
displaying and recording PLC variables.
See also Functional Description "Patch Function"

P-0-0495 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.3.133

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0496, PLC patch function 3, data source


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
MPB

-
-
-
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 469/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-motion logic

This parameter allows selecting a memory cell of the PLC. This memory cell
can be read by means of the PLC patch function 3, display. The parameter is
an ASCII string (256 characters). Address selection takes place via (area/offset)
from the symbol file of the PLC. The data type (sign, number of bytes) and the
display format can be added to the address selection as a string in commaseparated form.
The following strings are allowed as data type:
BOOL

1 byte

BYTE, USINT

1 byte unsigned

SINT

1 byte signed

WORD, UINT

2 bytes unsigned

INT

2 bytes signed

DWORD, UDINT

4 bytes unsigned

DINT

4 bytes signed

REAL

4 bytes

Fig.4-127:

Data type

The following output formats can be evaluated:


2#

binary display

10#

decimal display

16#

hexadecimal display

The IndraWorks input support allows easily using the function for
displaying and recording PLC variables.
See also Functional Description "Patch Function"
P-0-0496 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.134

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0497, PLC patch function 3, display


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

This parameter displays the content of a memory cell selected via the PLC
patch function.

470/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The IndraWorks input support allows easily using the function for
displaying and recording PLC variables.
See also Functional Description "Patch Function"
P-0-0497 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.3.135

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0498, PLC patch function 4, data source


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

This parameter allows selecting a memory cell of the PLC. This memory cell
can be read by means of the PLC patch function 4, display. The parameter is
an ASCII string (256 characters). Address selection takes place via (area/offset)
from the symbol file of the PLC. The data type (sign, number of bytes) and the
display format can be added to the address selection as a string in commaseparated form.
The following strings are allowed as data type:
BOOL

1 byte

BYTE, USINT

1 byte unsigned

SINT

1 byte signed

WORD, UINT

2 bytes unsigned

INT

2 bytes signed

DWORD, UDINT

4 bytes unsigned

DINT

4 bytes signed

REAL

4 bytes

Fig.4-128:

Data type

The following output formats can be evaluated:


2#

binary display

10#

decimal display

16#

hexadecimal display

The IndraWorks input support allows easily using the function for
displaying and recording PLC variables.
See also Functional Description "Patch Function"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 471/1033


and Controls

Product-Specific Parameters
P-0-0498 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.3.136

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0499, PLC patch function 4, display


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

This parameter displays the content of a memory cell selected via the PLC
patch function.
The IndraWorks input support allows easily using the function for
displaying and recording PLC variables.
See also Functional Description "Patch Function"

P-0-0499 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

4.4

P-0-0501 - P-0-0689 General Functions

4.4.1

P-0-0506, Amplitude for angle acquisition


Allocation

Function

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

Default value
-------

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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.
This parameter takes effect for commutation setting by means of saturation
method and sine-wave method:

When the saturation method is activated, this parameter is a voltage value,


unit "V".

472/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

When the sine-wave method is activated, this parameter is a torque/force


value with unit "%". The reference value 100% is the motor torque at
standstill of the motor according to the data in "S00086, Torque/force
data scaling type".
The value for this parameter can be automatically generated by the
controller. By the start value "0" further values are iteratively gen
erated for P00506 and "P00507, Test frequency for angle ac
quisition" until the commutation offset determination is successfully
completed. After the iteration the values are stored and used for
every further commutation offset determination.

See also Parameter Description "S00086, Torque/Force data scaling type"


See also Parameter Description "P00522, Control word for commutation set
ting"
P-0-0506 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V
--

Input
MPB:
MPD:
MPH:

4.4.2

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
0 / 1000
0 / 1000
0 / 1000

Default value
0
0
0

P-0-0507, Test frequency for angle acquisition


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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.
The value for this parameter can be automatically generated by the
controller. By the start value "0" further values are iteratively gen
erated for "P00506" and "P00506, Voltage amplitude for angle
acquisition" until the commutation offset determination is success
fully completed. After the iteration the values are stored and used
for every further commutation offset determination.

P-0-0507 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
Hz
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

min./max.
0 / 1000
0 / 1000
0 / 1000

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +
Default value
500
500
500

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 473/1033


and Controls

Product-Specific Parameters

4.4.3

P-0-0508, Commutation offset


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the case of synchronous motors that are delivered with fixed, mechanical
configuration of the rotor and the absolute encoder system (MHD, MKD, MKE)
this value is determined once at the factory and stored in the motor encoder
(P03008, Commutation offset, encoder memory).
During the initialization, after switching on and detecting the encoder memory,
the parameter value is automatically loaded to the controller (P03008 ->
P00508) and at drive enable the motor is immediately ready for operation!
In the case of synchronous kit motors with absolute measuring system, the
value is determined once on the axis side and stored in the controller (in
P00508 and, if available on the motor encoder side, in P03008, too). After
switching on the motor is immediately ready for operation at drive enable!
See also Functional Description "Commutation Setting"

Use

In the case of synchronous kit motors with incremental measuring system the
commutation offset must be determined again each time the drive is switched
on again. After drive enable a procedure for determining the correct value for
the effective commutation offset (P00521) is automatically started. It is only
after the procedure has been successfully completed that the motor can pro
duce force! You can select the saturation method or the sine-wave method as
the procedure for commutation setting (see also "method of commutation set
ting" in "P00522, Control word for commutation setting"). It is preferable to
use the saturation method because it runs without motion!
During the subsequent homing procedure of the incremental measuring system
a commutation offset fine adjustment is carried out. To do this the value of
P00521 converted to the home point is compared to P00508 and corrected,
if necessary. The motor then runs with the optimum commutation offset from
P03008 / P00508 determined during the initial commissioning procedure.
The commutation fine adjust is deactivated, when the value "0" is entered in
P00508.
The values of P00521 and P00508 are generally different, because
P00521 is related to the position of the motor encoder at the time the drive is
switched on and P00508 is related to the home point of the axis!
P00508 can only be written in communication phase "P2". It can
only be indirectly written for the purpose of optimization via
"P00521, Effective commutation offset" in the initial commission
ing mode with active drive!
The value for P00508 must always be determined again if:

the mechanical arrangement of the measuring system is


changed in the case of rotary motors or

the primary and secondary part are mechanically changed in


the case of kit motors.

This parameter is irrelevant for asynchronous motors.


See also Parameter Description "P-0-0522, Control word for commutation set
ting"

474/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0508 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.4.4

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
StdNul / 1024
StdNul / 1024
StdNul / 1024

Default value
0
0
0

P-0-0510, Rotor inertia


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Depending on bit 9 of parameter "P-0-4014, Type of construction of motor", the


value of this parameter has a different significance:

rotor inertia (without load inertia) in the case of rotary motors

primary part mass (without load mass) in the case of linear motors
Writing the correct value to this parameter:

In the case of MSK, MHD, MKD, MKE MAD, MAF, automati


cally at initial commissioning.

In the case of 2AD, ADF, linear and rotary kit motors, by load
ing the motor parameters with the commissioning software
(e.g. IndraWorks).

In the case of other motors, manual input according to manu


facturer's specification.

See also Functional Description "Motor, Mechanical Axis System, Measuring


Systems"
See also Functional Description "Automatic Setting of Axis Control"
Unit, decimal places
The drive firmware automatically adjusts the unit and decimal places to the type
of construction of the motor (rotary or linear) entered in "P04014, Type of
construction of motor".
Unit for type of constr. of motor (P04014) Decimal places for type of constr. of motor
(P04014)
rotary

linear

rotary

linear

kgm2

kg

Fig.4-129:
Use

Unit and decimal places of P-0-0510, depending on P-0-4014

This parameter is used for:

automatic control loop setting (C1800)

sensorless, flux-controlled operation of asynchronous motors

If none of the mentioned cases is used, it is not obligatory to enter a value!


Automatic control loop setting

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 475/1033


and Controls

Product-Specific Parameters
The rotor inertia or motor mass is important, in conjunction with the load inertia
or load mass, for optimizing the velocity control loop.
Sensorless, flux-controlled operation of asynchronous motors (FXC)
For sensorless, flux-controlled operation of asynchronous motors, the value of
the rotor inertia is important, in conjunction with the (motor-related) load inertia,
for the setting of the frequency loop. See also Functional Description of "Sen
sorless, Flux-Controlled Motor Operation"
Automatic control loop setting (C1800) and sensorless, flux-con
trolled operation of asynchronous motors are mutually exclusive!
P-0-0510 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
P-0-4014
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.4.5

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
P-0-4014
set switchable: +

min./max.
StdNul / 500,00000
StdNul / 500,00000
StdNul / 500,00000

Default value
0,00000
0,00000
0,00000

P-0-0512, Temperature sensor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The controller monitors the motor temperature by means of temperature sen


sors installed in the motor. The controller can directly evaluate standard tem
perature sensors because the characteristics of the sensors are stored in the
firmware.
See also Functional Description "Motor Temperature Monitoring"

Use

In the case of motors with encoder data memory (MHD, MKD,


MKE), this parameter is automatically set correctly when the
motor parameters are loaded!

In the case of motors without encoder data memory (2AD,


ADF, LSP, MSS, 1MS), the parameter must be set to the cor
rect value! When you use the DriveTop commissioning tool,
the value is automatically set correctly!

The temperature sensors that can be directly evaluated by the controller are
characterized by an identification number:

1: SNM150-DK, by Thermik, (PTC with switching performance, three-core


circuitry) incorporated in MHD, MKD, MBS, MBT and LSF motors

2: K227, by Siemens (NTC, analog characteristic), incorporated in 2AD,


ADF and 1MB motors

3: KTY84, by Siemens (PTC, analog characteristic)

4: SNM150-DK, by Thermik, (PTC with switching performance, three-core


circuitry) incorporated in MKE motors

5: temperature sensor for Bosch SF motors (NTC)

476/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
In addition, it is also possible to evaluate less ordinary temperature sensors,
but the customer must enter the characteristics of those sensors in a list pa
rameter. Please select the following setting:

100: unknown temperature sensor

The characteristic of the unknown temperature sensor must be entered in the


list parameter "P00513, Temperature sensor characteristic".
If a (third-party) motor is operated that does not have a built-in temperature
sensor, the following setting has to be selected:

0: no monitoring of the motor temperature


In the case of overload, the controller cannot protect motors without
temperature sensor against thermal damage!

P-0-0512 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
StdNul / awMaxWertPar
Temperatu
StdNul / awMaxWertPar
Temperatu
--- / ---

MPB:
MPD:
MPH:

4.4.6

PM
PM->OM
-+

Default value
1
1
1

P-0-0513, Temperature sensor characteristic


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

If a temperature sensor is to be evaluated the characteristic of which has not


been stored in the firmware, the characteristic has to be entered in this param
eter in the form of a value table.
See also Functional Description "Motor Temperature Monitoring"

Use

The values must be strictly and monotonously increasing or decreasing, i.e. in


the table the values assigned to an increasing temperature must either be al
ways higher than all preceding values or always lower than all preceding values.
Line no. of P-0-0513

Temperature in Celsius Resistance value in Ohm


[C]
[]

-20

-10

10

20

30

40

50

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 477/1033


and Controls

Product-Specific Parameters
Line no. of P-0-0513

Temperature in Celsius Resistance value in Ohm


[C]
[]

60

10

70

11

80

12

90

13

100

14

110

15

120

16

130

17

140

18

150

19

160

20

170

21

180

22

190

23

200

24

210

25

220

26

230

27

240

28

250

Fig.4-130:

List for temperature sensor characteristic

See also parameter "P00512, Temperature sensor"


P-0-0513 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Ohm
--

Input
MPB:
MPD:
MPH:

4.4.7

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
-------

P-0-0517, Commutation: required harmonics component


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter is used as threshold for determining a minimum harmonics


component of the current for commutation determination by means of the sat
uration method.

478/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Use

If the percentage-based harmonics component of the current related to the


fundamental wave during automatic commutation determination is smaller than
the value entered in P00517, this results in an incorrect result value for
"P00521, Effective commutation offset" which can cause positive feedback of
the motor ("F8078 Speed loop error"). The drive therefore aborts the command
with the command error "F8013" or "C1218 Automatic commutation: current
too low".
In most cases the default value of 4% does not have to be changed.
Only in exceptional cases is it necessary to correct this threshold
value iteratively during commissioning:

Record of Modifications

P-0-0517 - Attributes

If error "F8013" or "C1218 Automatic commutation: current too


low" occurs and if similar values (+/- approx. 30) are deter
mined for "P00521, Effective commutation offset" with re
peated commutation setting for different motor positions (drive
remains in "Ab"), reduce P00517 until error message no lon
ger occurs; finally check correct functioning of commutation
setting several times!

If error "F8078 Speed loop error" occurs although commuta


tion determination hasn't signaled any error, increase value in
parameter "P00517, Commutation: required harmonics com
ponent"!

Version

Attribute

GEN-02VRS

Memory: --

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Input
MPB:
MPD:
MPH:

4.4.8

Comment

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
1,0 / 10,0
1,0 / 10,0
1,0 / 10,0

Default value
4,0
4,0
4,0

P-0-0518, C5600 Command subsequent optimization of commutation


offset
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

-
-
MPH
MPH

-
-
MPD
MPD

This command is used to subsequently optimize the commutation offset which


was previously determined by means of sine-wave method or saturation meth
od.
The command can only be executed in control (status "AF").

P-0-0518 - Attributes

Function: Cmd
Memory: --

Editability:
Validity ch.:

OM
--

Data length:
Format:

2Byte
BIN

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 479/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.4.9

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0520, Encoder validation error threshold factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The mechanical link between motor encoder and rotor is monitored. If a mal
function is detected, e.g. breakage of encoder shaft, the error message F8023
is output.
See also Functional Description "Compensation Functions/Corrections"

Use

Parameter P-0-0520 influences the upper (P-0-0621) and lower (P-0-0622)


monitoring thresholds of encoder validation monitoring. For the commissioning
of third-party motors or the commissioning of motors without encoder data
memory, it might be required to increase the value of the parameter to make
sure that the error F8023 won't be generated.
Example:

Record of Modifications

P-0-0520 - Attributes

P-0-0520

100% - changed to - 150%

50%

P-0-0621

20V - changed to - 30V

10V

P-0-0622

-10V - changed to - 15V

-5V

Version

Attribute

up to
MPx04VRS

Validity ch.: no

up to
MPx04VRS

Extr. val. ch.: no

up to
MPx04VRS

MPx_Min Value: 30

up to
MPx04VRS

MPx_Max Value: 1000

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Input
MPB:
MPD:
MPH:

4.4.10

Comment

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
30,0 / 3000,0
30,0 / 3000,0
30,0 / 3000,0

Default value
100,0
100,0
100,0

P-0-0521, Effective commutation offset


Allocation

Contained in 02VRS:
Contained in 03VRS:

MPB
MPB

MPH
MPH

MPD
MPD

480/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPB
-closed loop

MPH
MPH

MPD
MPD

In the case of synchronous motors, the value of the commutation offset that is
currently active in the drive is displayed in this parameter. This value refers to
the actual position value of the motor encoder at the time the drive is switched
on.
See also Functional Description "Commutation Setting"

Use

In the initial commissioning mode (to be set in "P00522, Commutation setting


control word") this value can be written with immediate effect and can be used
for optimization.
Optimization is carried out by measuring the drive force with con
stant force command value and variation of the automatically de
termined value of P00521. The value with which the highest force
was reached is the optimum value!
Based on the automatically determined value, the value of P00521
should be changed by a maximum of +/-256!
During the initial commissioning of synchronous motors with incremental meas
uring system the value of P00521 converted to the home point is taken over
to "P00508, Commutation offset" when executing "S00148, C0600 Drivecontrolled homing procedure command".
During the initial commissioning of synchronous motors with absolute measur
ing system the value of P00521 is directly taken over to P00508 when the
command "P00524, C1200 Commutation offset setting command" is execu
ted.
If an encoder data memory is available the commutation offset is also stored in
"P03008, Commutation offset, encoder memory".

P-0-0521 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.4.11

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
-+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdNul / 1024
StdNul / 1024
StdNul / 1024

Default value
0
0
0

P-0-0522, Control word for commutation setting


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By this parameter it is possible to select the method by means of which the


commutation offset is determined when starting "P00524, C1200 Commuta
tion offset setting command".
See also Functional Description "Commutation Setting"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 481/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

1/0

method of commutation setting

Comment

00: locked
01: currentless (without drive enable), manual distance meas
urement for linear motors
10: with current (with drive enable), automatically determined
for all SY motor models by "saturation method"
11: with current (with drive enable), automatically determined
for all SY motor models by "sine-wave method"
4

"search direction" for sine-wave method


0: increase of amplitude with priority
1: increase of frequency with priority

moving back to start position with sine-wave method


0: automatically moving back
1: no moving back

reserved

setting of test signal for sine-wave method


0: fixed duration
1: fixed number of signal periods

releasing holding brake with active sine-wave method


0: no, brake remains applied
1: yes, brake is released

15

initial commissioning mode


0: inactive
1: active

Fig.4-131:
Use

Relevant bits of P-0-0522, Commutation setting control word

In addition, the controller is told via P00522 whether the initial commissioning
of a synchronous motor is to be carried out. This causes the values stored in
"P00508, Commutation offset" / "P03008, Commutation offset, encoder
memory" to be overwritten.

In the case of motors with absolute measuring system, the result is directly
taken over to P00508 when determining the commutation offset (com
mand P00524). In addition the value can be optimized by changing
"P00521, Effective commutation offset", because it is directly copied to
P00508.

In the case of motors with incremental measuring system, the result is not
taken over directly to P00508 when determining the commutation offset
by means of the P00524 command (only possible with current!) and with
active "initial commissioning" mode. It is only by the subsequent homing
of the measuring system that the value of P00521 converted to the home
point is written to P00508.

If an encoder data memory is available the commutation offset is also


stored in "P03008, Commutation offset, encoder memory".

The sine-wave method with motion can only be used for freely moving axes! A
possibly available holding brake has to be released during the commutation
setting!

482/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Vertical axes without weight compensation moving down when holding


brake is automatically released by activating sine-wave method!
The sine-wave method can only be used for equilibrated axes!

WARNING

If the "sine wave method" with current was selected, it is possible,


with values of "P00507, Test frequency for angle acquisition" >ap
prox. 50, to considerably reduce the duration for the commutation
setting by setting bit 7 to "fixed number of signal periods"! Using this
setting is only recommended for synchronous motors with relative
measuring system in conjunction with home-point-related commu
tation offset value, because the quality of the determined commu
tation setting can be poor!
This parameter is stored!
P-0-0522 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.4.12

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: +

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0523, Commutation setting measured value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

If the commutation setting is to be carried out in a currentless way (can be set


in "P00522, Control word for commutation setting") in the case of synchronous
linear motors with absolute measuring system, the defined distance
(see Functional Description for synchronous linear motors) must be entered in
this parameter.
The currentless commutation setting only makes sense in the case
of synchronous linear motors with absolute measuring system, be
cause the distance measurement is only carried out once during the
initial commissioning. The determined value is stored and in con
nection with the absolute measuring system it automatically causes
the current and magnetic field to be correctly coordinated in the
motor at each new start of the machine axis.
See also Functional Description "Rexroth Kit Motors"

P-0-0523 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-mm
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
-+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 483/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.4.13

min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong

Default value
0,0
0,0
0,0

P-0-0524, C1200 Commutation offset setting command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By means of parameter P00524 it is possible to activate the command for


setting the commutation offset.
See also Functional Description "Commutation Setting"

Use

After starting the command the drive automatically determines the value for the
commutation offset of the synchronous motor and stores it in "P00521, Ef
fective commutation offset". With the initial commissioning mode activated (see
"P00522, Commutation setting control word") and absolute motor encoder the
value is also stored in "P00508, Commutation offset". If an encoder memory
is available the commutation offset is also stored in "P03008, Commutation
offset, encoder memory".
The correct value for the commutation offset causes the appropriate assign
ment of the current flow in the motor to the permanent magnetic field so that
the maximum force is caused by the flowing current.
This command is only required for synchronous motors that are
delivered without fixed, mechanical assignment of the rotor or mov
able part of the motor to the encoder system (e.g. synchronous kit
motors).

P-0-0524 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.4.14

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0525, Holding brake control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter informs the controller of the type of motor holding brake and the
way it is controlled:

self-releasing or self-holding brake

main drive brake or servo brake

automatic brake check when switching drive enable on and off

484/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

enabling the "release holding brake" command

For Rexroth motors with encoder data memory, MHD, MKD,


MKE and MSK, bit 0 and bit 2 are automatically set!

For motors without encoder data memory, bit 0 and bit 2, de


pending on whether a holding brake is available, have to be
manually set to the appropriate value!

For motors without integrated holding brake, an external hold


ing brake can be controlled by the controller (set bit 2 to "1").
Set bit 0 according to type of holding brake!

See also Functional Description "Motor Holding Brake"


Structure

Bit

Designation/function

type of holding brake

Comment

0: self-holding, applied at 0 V
1: electrically holding, applied at 24 V
1

functional principle
0: servo brake, brake is activated after max. braking time
1: main drive brake, brake is only activated when nact <
10 rpm

holding brake available?


0: no
1: yes (possibly external holding brake, if no motor-inter
nal brake available!)

automatic check of holding brake


0: no
1: yes, when switching drive enable ("AF") on and off

resurfacing of brake (when executing "brake check" com for MPx02, no lon
mand)
ger existing as of
MPx03!
0: no
1: yes

command "release holding brake" allowed


0: no
1: yes

activate time interval of holding brake check?

as of MPx03

0: no
1: yes
7

activating command "release holding brake" allowed via as of MPH04


control panel?
0: no
1: yes

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 485/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

Comment

load torque monitoring

as of MPx05

0: active
1: not active
10/9

test direction of brake check

as of MPx05V12

00: test in both directions (default)


01: test in positive direction
10: test in negative direction

Fig.4-132:

Relevant bits of P-0-0525

Use

When you use the safety related braking and holding system, it is
not allowed to select bit 3!
P-0-0525 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.4.15

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0528, Flux loop proportional gain


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For asynchronous motors, the gain of the flux loop is entered in this parameter.
See also Functional Description "Field-Oriented Closed-Loop Current Control"

Use

In the case of asynchronous motors, the rotor flux is the product of motor mag
netizing inductance and magnetizing current. The rotor flux, however, only
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 magnet
izing current is considered to be the limit value for the id command value.

486/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Fig.4-133:

Flux loop

For dynamic applications the flux loop gain can be determined from the motor
data according to the following estimate formula.

Fig.4-134:

Formula for determination of flux loop proportional gain

For less dynamic applications or if the id command value P00039 has the
tendency to oscillate, this value can be reduced. Basically it is also possible to
run without flux loop, in this case make the setting P00528 = 0.
P-0-0528 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.4.16

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
0,00 / 100,00
0,00 / 100,00
0,00 / 100,00

Default value
1,00
1,00
1,00

P-0-0529, Scaling of stall current limit


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The stall current limit is the limit for the torque-generating current of asynchro
nous motors.
See also Functional Description "Field-Oriented Closed-Loop Current Control"

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
netizing current has very low values. The determining elements of the stall
current limit are the inductances of the equivalent circuit diagram (P04039,
P04040, P04041) and the active rotor flux that is generated in the stationary
case from the magnetizing current id.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 487/1033


and Controls

Product-Specific Parameters

iq,lim:
:

stall current limit for torque-generating current


leakage factor of the asynchronous motor

Fig.4-135:

Stall current limit of an asynchronous machine

With the value set in P00529 it is possible to change the stall current limit
relatively. With the setting P-0-0529 = 100% it is exactly the limit value defined
above that takes effect, lower values are reducing the stall current limit accord
ingly. For Bosch Rexroth motors the parameter value is stored in the "Drive
Base". For third-party motors it is recommended to make the input via the motor
type plate P04032. The command "P04033, C3200 Command Calculate
data for asynchronous motor" also calculates the value for P00529.
P-0-0529 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Input
MPB:
MPD:
MPH:

4.4.17

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
10 / 150
10 / 150
10 / 150

Default value
100
100
100

P-0-0530, Slip increase


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is only used for asynchronous motors. In the asynchronous


motor the rotor resistance and therefore the rotor time constant change as the
temperature changes.
See also Functional Description "Field-Oriented Closed-Loop Current Control"

Use

For calculating the load-dependent slip value required for the torque output the
rotor time constant is taken into account. The rotor time constant that changes
depending on the temperature is compensated by the temperature-dependent
slip increase.
The value for the slip increase (referring to 100K temperature difference) is
motor-specific and determined individually for each asynchronous motor type.
Writing the correct value to this parameter:

P-0-0530 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

In the case of 2AD, ADF and 1MB (1MS), by loading the motor
parameters with the commissioning software (e.g. Indra
Works).

In the case of other motors manual input.

Par
PARAM_SP
1/100K
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

488/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.4.18

min./max.
1,00 / 2,00
1,00 / 2,00
1,00 / 2,00

Default value
1,50
1,50
1,50

P-0-0532, Premagnetization factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

With this parameter it is possible to reduce the magnetizing current of an asyn


chronous motor and therefore the rotor flux. The factor is referring to "P04004,
Magnetizing current".
See also Functional Description "Motor, Mechanical Axis System, Measuring
Systems"

Use

Reducing Magnetizing Current De


pending on Work Load

The magnetizing current is reduced depending on the setting of the respective


bit in "P00045, Control word of current controller"

depending on work load (default) - or -

independent of work load.

In no-load operation, the magnetizing current (P04004) can be reduced to the


percentage indicated in P00532. Possible values are between 50% and
100%. Under load the magnetizing current increases proportionally to the re
quired torque or to the torque-generating current. When the torque-generating
current has reached the 2-fold value of P04004, the full magnetizing current
(value of P04004) is flowing, independent of the value of the premagnetization
factor P00532. The motor reaches the maximum possible torque!

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 489/1033


and Controls

Product-Specific Parameters

id
iq

flux-generating current (P00039)


torque-generating current (P00038)

Fig.4-136:
Reducing Magnetizing Current In
dependent of Work Load

Load-depending operating principle of the premagnetization factor

The magnetizing current of an asynchronous motor can also be reduced or


increased permanently, i.e. independent of the currently effective load. Values
between 50% and 150% can be set.

With values lower than 100% the torque output at the motor shaft is de
layed compared to the command value. The torque of the motor available
at maximum allowed or possible current can be reduced, too!

With values higher than 100% the maximum available torque can also be
reduced, because the torque-generating current component of the total
current is lower due to the increased magnetizing current. With increased
magnetizing current, saturation effects can occur in the magnetic circuit
of the motor, the torque-increasing effect does not appear in this case!

In the case of previously known changes of load, parameter P00532 can


be entered in the MDT for cyclic input in order that the control master can
precontrol the possibly reduced magnetization of the motor in an appro
priate way. Short-time overmagnetization with values greater than 100%
can be useful for peak loads.
Writing the correct value to this parameter:

In the case of 2AD, ADF and rotary kit motors, by loading the
motor parameters with the DriveTop commissioning tool (de
fault value P00532 = 50%!).

In the case of other motors: default value or manual input.

Notes on Application

490/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Spindle Drives

Servo Drives

Due to the reduction of the magnetizing current there is less motor temperature
rise and noise generation resulting in no-load operation; a setting smaller than
100% in P00532 is therefore recommended for spindle drives.

Closed-loop: 50% (operating principle "depending on load")

Open-loop: 70% (operating principle "independent of load")

For servo drives with asynchronous motors it is recommended to set 100%,


because with lower values the torque at the shaft is only available with a delay
compared to the command value!
After having set P00532 check whether the machining, accelera
tion and deceleration processes have the desired result!

P-0-0532 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
MDT

Input

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
ausFREG_Magnetisier
ungsFaktorM
ausFREG_Magnetisier
ungsFaktorM
ausFREG_Magnetisier
ungsFaktorM

MPB:
MPD:
MPH:

4.4.19

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Default value
100
100
100

P-0-0533, Voltage loop proportional gain


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter the proportional gain of the voltage loop is entered.
The voltage loop is used to control the motor voltage in the field-weakening
range.
Writing the correct value to this parameter:

In the case of MAD and MAF with encoder data memory au


tomatically during initial commissioning.

In the case of 2AD, ADF, linear and rotary kit motors, by load
ing the motor parameters with the commissioning software
(e.g. IndraWorks).

In the case of other motors: default value or manual input.

See also Functional Description "Third-Party Motors at IndraDrive Controllers"


P-0-0533 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
A/V
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
StdNul / StdUMax

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +
Default value
0,500

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 491/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.4.20

StdNul / StdUMax
StdNul / StdUMax

0,500
0,500

P-0-0534, Voltage loop integral action time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter the integral action time of the voltage loop is en
tered. The voltage loop is used to control the motor voltage in the fieldweakening range.
Writing the correct value to this parameter:

In the case of MAD and MAF with encoder data memory au


tomatically during initial commissioning.

In the case of 2AD, ADF, linear and rotary kit motors, by load
ing the motor parameters with the commissioning software
(e.g. IndraWorks).

In the case of other motors: default value or manual input.

See also Functional Description "Determining the Motor Parameter Values"


P-0-0534 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.4.21

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
600,0
600,0
600,0

P-0-0535, Motor voltage at no load


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

As a matter of principle, this parameter only takes effect in field weakening


operation. 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 ThirdParty Motors"

Use

In addition, 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
operation. By means of this voltage the command value of the rotor flux is precontrolled.
2) Synchronous motor:

492/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The parameter defines the command value of the e.m.f. voltage for acceleration
or deceleration processes in the field weakening range. By reducing this value
more torque can possibly be generated in these cases.
Writing the correct value to this parameter:

P-0-0535 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

In the case of MAD and MAF with encoder data memory, au


tomatically during initial commissioning.

In the case of 2AD, ADF, linear and rotary kit motors, by load
ing the motor parameters via the commissioning software (e.g.
IndraWorks).

In the case of other motors: Default value or manual input, set


a maximum of 80% because of the required control margin!

Par
PARAM_SP
%
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.4.22

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
0,0 / 100,0
0,0 / 100,0
0,0 / 100,0

Default value
80,0
80,0
80,0

P-0-0536, Maximum motor voltage


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines the command voltage of the voltage loop. It is indicated
in percent of the maximum converter output voltage.
Writing the correct value to this parameter:

In the case of MAD and MAF with encoder data memory au


tomatically during initial commissioning.

In the case of 2AD, ADF, linear and rotary kit motors, by load
ing the motor parameters with the commissioning software
(e.g. IndraWorks).

In the case of other motors: Default value or manual input, set


a maximum of 90% because of the required control margin!

See also Functional Description "Third-Party Motors at IndraDrive Controllers"


P-0-0536 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
%
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
50,0 / 100,0
50,0 / 100,0
50,0 / 100,0

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +
Default value
90,0
90,0
90,0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 493/1033


and Controls

Product-Specific Parameters

4.4.23

P-0-0539, Holding brake status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays the current status of the holding brake.


See also Functional Description "Motor Holding Brake"

Structure

Bit

Designation/function

Comment

output voltage for motor holding brake


0: 0V
1: 24V

status of holding brake check


0: carried out without success
brake check negative, brake not released or not enough
holding torque or brake check required, as interval since
last check is greater than value of P00550, Time interval
brake check
1: carried out successfullybrake release and holding tor
que checked and without error

status of "brake release" check

as of MPx03VRS

0: brake not released or


brake release not checked or
release check required, as interval since last check is
greater than value of P00550, Time interval brake check
1: brake has been released, further brake check not yet
required
3

status of "holding torque" check

as of MPx03VRS

0: holding torque too low or


holding torque not checked or
holding torque check required, as interval since last check
is greater than value of P00550, Time interval brake
check
1: holding torque is sufficient, further brake check not yet
required

Fig.4-137:
P-0-0539 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Relevant bits of P-0-0539, Holding brake status word


Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

494/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.4.24

P-0-0540, Torque of holding brake


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The nominal torque of the holding brake has to be entered in this parameter.
With motor holding brake monitor active, the brake is checked with regard to
this value unless this was differently set in the parameters "P00545, Test tor
que for releasing motor holding brake" and "P00547, Nominal load of holding
system" ("P00547, Test torque with holding brake applied" for MPx02).
In the case of motors with holding brake and encoder data memory (MHD, MKD,
MKE), the correct value is automatically written to parameter P00540. In the
case of motors without encoder data memory, the value has to be entered
manually.

P-0-0540 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Nm
--

Input
MPB:
MPD:
MPH:

4.4.25

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
0,0 / StdUMax
0,0 / StdUMax
0,0 / StdUMax

Default value
0,0
0,0
0,0

P-0-0541, C2100 Brake check command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

With this command it is possible to check the motor holding brake. To do this,
drive enable is required. The motor holding brake is first released and the motor
is activated with half the brake torque. If the motor does not move, the error
message "F2069 Error when releasing the motor holding brake" is output and
the command is terminated.
See also Functional Description "Motor Holding Brake"

Use

If the motor moves (2 degrees), the brake is correctly released. The holding
torque is now checked. To do this 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 respective holding torque. If the rotor moves (>2 degrees),
the brake check command is either terminated or the drive tries to reestablish
the brake torque, depending on bit 4 in "P00525, Holding brake control word".
For reestablishing the brake torque the rotor is moved by +/-520 degrees
("abrasion" of the brake). The holding brake is cyclically applied and released.
After that the controller again checks the holding torque of the brake and then
completes the command.
If the brake does not reach its holding torque at the end of the command, the
message "C2103 Brake torque too low" is output. The result of the brake check
is also displayed by a bit of "P00539, Holding brake status word" or "P-0-3301,
Redundant holding brake: status word".

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 495/1033


and Controls

Product-Specific Parameters

Property damage caused by drive-controlled axis movements during


brake check!
Before starting the command, move the axis to a noncritical position!

WARNING
P-0-0541 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.4.26

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0542, C2000 Command Release motor holding brake


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to release the motor holding brake


when the drive enable has been switched off. At the start of the command the
motor holding brake is released, when the command is terminated the brake is
applied again.
If drive enable is set with the command being active, the holding brake remains
released, when drive enable is switched off, the brake is automatically applied.
The command has to be activated via bit 5 in "P00525, Holding
brake control word".
See also Functional Description "Motor Holding Brake"

P-0-0542 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.4.27

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0543, C3800 Command Apply motor holding brake


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

By means of this parameter it is possible to apply the motor holding brake in


communication phase 4.
See also Functional Description "Motor Holding Brake"

496/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Use

P-0-0543 - Attributes

When the command is started, the motor holding brake is applied. When the
command is completed, the brake is released if drive enable was set. If drive
enable is switched off while the command is active, the holding brake remains
applied even when the command is cleared. If drive enable is set when the
command has been set, the brake is nevertheless released.
Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.4.28

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0544, C3900 Command Abrasion of brake


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

With this command a motor holding brake that no longer reaches its holding
torque can be abraded. To do this, drive enable is required. During the execu
tion of the command the motor is moved against the applied brake.
See also Functional Description "Motor Holding Brake"

Use

After the command "C3900" was started, the drive is accelerated to 100 min-1
or 100 mm/min. Active acceleration and deceleration ramps, as well as filters
(P01201, P01202, P01203, P01211, P01213 and P01222) are taken
into account. After the command velocity has been reached, the holding brake
is applied for 400 ms. After that the drive is shut down by velocity control.

Property damage caused by drive-controlled axis movements during


brake check!
Before starting the command, move the axis to a noncritical position!

WARNING

When using a redundant holding brake, you have to make sure that
this brake has been released.
P-0-0544 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.4.29

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0545, Test torque for releasing motor holding brake


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 497/1033


and Controls

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
-closed loop

MPH

MPD

With the command "C2100 Brake check command" or with the automatic brake
check when drive enable is switched on, the releasing of the motor holding
brake is checked in the first step.
See also Functional Description "Motor Holding Brake"

Use

P-0-0545 - Attributes

In this parameter you can set a test torque with which the drive is to move in
any case with the motor holding brake released. When P00545 takes effect
and the drive does not move, an error message is output and the status "error
when releasing the brake" is set in P-0-0539 and P-0-3301. It is impossible to
distinguish which brake has not released. When parameter P00545 has been
set to "0", the test is carried out with the value in parameter "P00540, Torque
of motor holding brake".
Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0086

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.4.30

Extr. val. ch.:

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

Comb. check: -min./max.


S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
0,0
0,0
0,0

P-0-0546, Starting torque for releasing motor holding brake


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 P00546). The
parameter is updated during every brake check.
See also Functional Description "Motor Holding Brake"

P-0-0546 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.4.31

Comb. check: --

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0547, Nominal load of holding system


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

498/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
-closed loop

MPH

MPD

For monitoring the holding brake ("C2100 Brake check command" or automat
ically, as determined in P00525) the motor generates test torque 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 mustn't move when
the test torque is applied. A possibly existing static axis load (e.g. weight) is
recognized and taken into account.
When parameter P00547 has been set to "0", the test is carried out with the
value in parameter "P00540, Torque of motor holding brake".
For vertical axes the weight load should not exceed 50% of the
nominal holding force of the holding system!
Observe the respective regulations of the concerned institution for
statutory accident insurance and prevention ("Berufsgenossen
schaft") with regard to dimensioning and testing of axis holding
systems!

P-0-0547 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Unit:

S-0-0086

Cycl. tra.: --

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.4.32

Extr. val. ch.:

Data length:
Format:

min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

Default value
0,0
0,0
0,0

P-0-0549, Oper. hours control section at last successful brake check


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
MPD
MPD

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 control
voltage is applied to the controller!
See also Functional Description "Motor Holding Brake"

P-0-0549 - Attributes

Function: Par
Editability:
RETAIN_GER
Memory:
Validity ch.:
AET
Unit:
s
Extr. val. ch.:
Cycl. tra.: -Comb. check:
Input
MPB:

nein

Data length:

4Byte

--

Format:

DEC_OV

---

Decim. pl.:
1
set switchable: --

min./max.
--- / ---

Default value
0,0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 499/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.4.33

--- / ----- / ---

0,0
0,0

P-0-0550, Time interval brake check


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

-
MPH
MPH
MPH

-
-
MPD
MPD

If the holding brake check time interval is activated in "P00525, Holding brake
control word" or the safety related braking and holding system has been acti
vated, the value of P00550 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 P00550 up to 15 min, the warning "E3115 Prewarning, end of brake
check time interval" is output.

If the interval exceeds the value of P00550, the error message "F3115
Error, brake check time interval exceeded" is generated.

See also Functional Description "Motor Holding Brake"


P-0-0550 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.4.34

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
900,0 / 604800,0
900,0 / 604800,0
900,0 / 604800,0

Default value
28800,0
28800,0
28800,0

P-0-0551, Current load torque


Allocation

Function

P-0-0551 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

In this parameter, the maximum occurring load torque of the axis in standstill is
displayed and cyclically compared to "P-0-0547, Nominal load of holding sys
tem". When "P-0-0547, Nominal load of holding system" is exceeded, the error
message "F3116 Nominal load torque of holding system exceeded" is output.
Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

Comb. check: -min./max.


--- / ----- / ----- / ---

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: -Default value
-------

500/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.4.35

P-0-0554, Current torque value of the motor holding brake


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

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 torque
of the brake.
See also Functional Description "Motor Holding Brake"

P-0-0554 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT

Comb. check: --

Input
MPB:
MPD:
MPH:

4.4.36

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0555, Status word of axis controller


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains the following status information (messages) regarding


axis control in the form of individual status bits:

velocity messages

limits that have been reached, i.e. information regarding an active limita
tion

See also Functional Description "Limitations"


See also Functional Description "Axis Control (Closed-Loop)"
Structure

The individual bits have the following significance:


Bit

Designation/function

1: when nact = ncmd (S-0-0330)

1: when nact < nx (S-0-0332)

1: when nact = 0 (S-0-0331)

1: when ncmd > nlimit (S-0-0335)

1: when Mact > Mx (S-0-0333)

1: when Mact > Mlimit (S-0-0334)

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 501/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

1: when velocity limitation active

1: when Mact (S-0-0084) > 90% of the currently possible as of MPx03V08


maximum load (P-0-0444)

10

1: when acceleration limitation is active

11

1: when positive torque limitation is active

12

1: when negative torque limitation is active

14

1: when actual position value in Inpos window (S00336)

15

1: when actual position value in Inpos window coarse


(S00341)

Fig.4-138:

Comment

as of MPx04VRS

Message bits of the velocity control loop

The bits 12 and 13 are set when the output variable of the velocity
loop is limited by "S00082, Torque/force limit value positive" or
"S00083, Torque/force limit value negative" or "S00092, Bipolar
torque/force limit value".
P-0-0555 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.4.37

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0556, Config word of axis controller


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used for configuring functions specific to axis control and
setting the control performance.
See also Functional Description "Closed-Loop Axis Control (Closed-Loop Op
eration)"
See also Functional Description "Performance Data"

Structure

The individual bits of the parameter have the following significance:

502/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

fine interpolator

Comment

As of MP*02V18
If required, fine interpolation of the velocity command val and MP*03V06,
the fine interpola
ue can be activated.
tor is switched off
0: on
by default!
1: off (default configuration!)
No longer availa
ble as of MPx05!

velocity control loop monitoring (F8078)


0: on (default configuration!)
1: off

performance level selection (Advanced) 1)


If required, this bit can reduce the performance, i.e. the
clock rates, of Advanced control sections with MPH firm
ware.

execution mode for "S00262, C07_x Load defaults pro


cedure command"
0: execution of C07_x Load defaults procedure com
mand takes place at the same time as error is cleared
("C0500 Reset class 1 diagnostics" or "F2008 RL The mo
tor type has changed")
1: no, i.e. C07_x Load defaults procedure command is
executed independently of the clearing of the error

torque/force limitation warning (E8260)


If required, the display of the warning in the case of active
torque/force limitation can be deactivated.
0: E8260 is displayed (active)
1: E8260 is not displayed (masked)

5 1)

performance level selection (Economy)

1)

If required, this bit can reduce the performance, i.e. the


clock rates, of Basic control sections with MPB firmware.
6

initialization of motor data The motor data are read from


the motor data memory:

Valid as of
MP*03VRS!
Valid as of
MP*04VRS!

0: once during the booting process


1: always when the drive is switched to the operating mode
7

torque limitation in the case of error reaction and fatal


warning

Only for
MPx04VRS;

0: limit value is minimum of P-0-0109, S-0-0092, S-0-0082, as of MPx05, func


S-0-0083
tion always ac
1: limit value is P-0-0109; S-0-0092, S-0-0082, S-0-0083 cording to value
"1".
are ignored
8

PWM frequency switching depending on load


0: not active
1: active

as of MPx05

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 503/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

Comment

point at which "P-0-0059, Additive position command val as of


ue, controller" takes effect
MP*04V16VRS
0: has no effect on feedforward
1: has an effect on feedforward

10

range of values for unipolar torque limitation ("S-0-0082, as of MPx05V08


Torque/force limit value positive" and "S-0-0083, Torque/
force limit value negative")
0: standard range of values (default): S-0-0082 can only
have positive values, S-0-0083 can only have negative
values (negative sign required!)
1: extended range of values: The value of S-0-0082 must
be greater than S-0-0083 (with sign!). Both values can be
entered with the same sign, both with positive and with
negative sign!

13

reduction of velocity control loop gain in field weakening


operation of asynchronous motors

as of MPx04V20

0: reduction not active (default for MP04)


1: reduction proportional to field weakening (default for
MP05)
14

acceleration monitor in velocity loop


0: off

Valid as of
MP*04VRS!

1: on
15

acceleration monitoring of position command value


0: on

No longer suppor
ted as of MP05!

1: off
Bit 2 and bit 5 1) Observe the interrelation of these bits, possible combinations are ex
plained below!

Fig.4-139:
Use

Relevant bits of P-0-0556

Observe the following aspects for parameter setting:

Bit 0: fine interpolator The fine interpolator takes effect in velocity control,
too!

Bit 1: velocity control loop monitoring If required, the monitoring function


can be switched off; but this is not recommended and should only be done
in the case of an emergency (e.g. in the case of highly non-linear gears).

Bit 5, 2: performance level As described above, the performance of the


control loops is preset in parameter P00556; the following bit combina
tions are possible for bits 5 and 2:

00: Basic performance for MPH and MPB

01: Advanced performance for MPH (or Basic performance for MPB)

10: Economy performance for MPB

11: not allowed or reserved!


For the MPD firmware, scaling the performance via bit 2 and 5 is
impossible at present! Only Basic performance is available for this
firmware!

504/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Bit 8: PWM frequency reduction depending on load The continuous cur


rent of the controller is reduced as the switching frequency of the power
output stage (PWM frequency) is increased. When "P-0-0001, Switching
frequency of the power output stage" has been set to 12 kHz or 16 kHz,
the controller can, depending on the thermal load, automatically reduce
the PWM frequency (bit 8 = "1") to reduce the thermal load of the power
output stage. This increases the allowed continuous current of the con
troller:

If "P-0-0141, Thermal drive load" rises to the value set in "P-0-0441,


Overload warning", the switching frequency is internally reduced to
8 kHz. The warning "E2061 Device overload prewarning" is dis
played.

If "P-0-0141, Thermal drive load" falls below a controller-specific


threshold, the value of the switching frequency entered in P-0-0001
takes effect again. The warning E2061 disappears.

Bit 9: point at which additive position cmd value of controller takes effect
In the majority of cases, feedforward values have a positive effect on the
control dynamics and reaction time of a drive. Feedforward values are
generated from command value characteristics:

velocity feedforward from the position command value characteristic

acceleration feedforward from the velocity command value charac


teristic

With this bit, you can set whether "P-0-0059, Additive position command
value, controller" is included in the generation of the feedforward values
or whether it is afterwards added to the position command value generated
by command value adjustment. P-0-0059 can only be used in positioncontrolled operating modes: cycl. position control, drive-internal interpo
lation, drive-internal positioning and positioning block mode.

Bit 10: range of values for unipolar torque limitation

The "extended range of values" allows using the same signs for S-0-0082 and
S-0-0083. In this way it is possible to realize symmetric torque limitation with
reference to the basic load, for example for axes with basic load (vertical axes
without equilibration).
The "extended range of values" should only be used in appropriate
applications! There is increased risk of positive feedback in the
speed control loop, if, for example, the negative sign of S-0-0083 is
omitted by mistake!

Property damage caused by positive feedback and impeded axis de


celeration in the case of improper setting of S-0-0082 and S-0-0083!
CAUTION

The drive load due to the basic load must always be between the limiting values
S-0-0082 and S-0-0083! If this is not the case, positive feedback occurs and it
would not be possible to decelerate the axis! In the case of variable basic load,
adjust S-0-0082 and S-0-0083 in the appropriate way!

Bit 13: reduction of velocity control loop gain in field weakening operation
of asynchronous motors
It makes sense to activate this feature, when the asynchronous motor runs
steadily in the speed range of constant torque, but the torque command
value in field weakening operation tends to oscillation. With MPx05, the
reduction is active by default (value "1"), but it can be deactivated (value
"0").

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 505/1033


and Controls

Product-Specific Parameters

Bit 14: acceleration limitation (only MPx04)


Activation of acceleration monitoring in the velocity loop. In cyclic position
control and in the synchronous operating modes, too, the acceleration is
limited to the value of "S-0-0138, Bipolar acceleration limit value".

Bit 15: acceleration monitoring of position command value


In MPx05, bit 14 and bit 15 are irrelevant. The limitation is always
active in the velocity loop, when the parameter "S-0-0138, Bipolar
acceleration limit value" is unequal zero.

Record of Modifications

P-0-0556 - Attributes

Version
up to MPx04VRS
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.4.38

Attribute
MPx_Default value: 32769
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Comment
Data length: 2Byte
Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0x2001
0x2001
0x2001

P-0-0565, C3600 Command Motor data identification


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

When this command is executed, the motor parameters of the motor connected
to the controller are optimized and the motor control parameters are calculated
from these data.
The most precise results of motor data identification are obtained
when "P00001, Switching frequency of the power output stage" is
set to the smallest value when starting C3600!
See also Functional Description "Automatic Setting of Motor Control"

P-0-0565 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.4.39

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0566, C4600 Command Calculate motor control parameters


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

-
MPH
MPH
MPH

-
-
MPD
MPD

506/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

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:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.4.40

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0568, Voltage boost


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Function

By means of this parameter it is possible to increase the voltage at the base


point of the U/f characteristic (in the case of standstill or very low speed 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 it is possible to improve the starting behavior by means
of this parameter by a value higher than 0V.

P-0-0568 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V eff
--

Input
MPB:
MPD:
MPH:

4.4.41

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
2
set switchable: +

min./max.
0,00 / 50,00
0,00 / 50,00
0,00 / 50,00

Default value
0,00
0,00
0,00

P-0-0569, Maximum stator frequency slope


Allocation

Function
Use

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains the maximum frequency command value change of


the motor voltage for sensorless operation of asynchronous motors.
U/f operation
For voltage-controlled operation (U/f) of asynchronous motors, the maximum
frequency command value change is preset via P-0-0569. The value is auto
matically determined via the commands for calculating the motor parameters
of third-party motors (C3200 and C3600). If the stall protection loop triggers

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 507/1033


and Controls

Product-Specific Parameters
during run-up, the value set for P-0-0569 might possibly be too high and should
be reduced!
FXC operation
For sensorless, flux-controlled motor operation (FXC), this parameter is irrele
vant (inactive). In this case, the maximum stator frequency slope can be
influenced via "P-0-0596, FXC: Frequency loop scaling factor of inertia".
P-0-0569 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Hz/s
--

Input
MPB:
MPD:
MPH:

4.4.42

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
0,01 / 3000,00
0,01 / 3000,00
0,01 / 3000,00

Default value
200,00
200,00
200,00

P-0-0570, Stall protection loop proportional gain


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 "P00045,
Control word of current controller".

P-0-0570 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Input
MPB:
MPD:
MPH:

4.4.43

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
0,00 / 500,00
0,00 / 500,00
0,00 / 500,00

Default value
100,00
100,00
100,00

P-0-0571, Stall protection loop integral action time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 "P00045,
Control word of current controller".

P-0-0571 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

508/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.4.44

min./max.
0,0 / 6500,0
0,0 / 6500,0
0,0 / 6500,0

P-0-0572, Slip compensation factor


Allocation

Function
P-0-0572 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
0,00 / 320,00
0,00 / 320,00
0,00 / 320,00

Default value
0,00
0,00
0,00

P-0-0573, IxR boost factor


Allocation

Function
P-0-0573 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.4.46

MPD
MPD
MPD
MPD

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.

Input
MPB:
MPD:
MPH:

4.4.45

Default value
1,0
1,0
1,0

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
0,00 / 320,00
0,00 / 320,00
0,00 / 320,00

Default value
0,00
0,00
0,00

P-0-0574, Oscillation damping factor


Allocation

Function
P-0-0574 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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.
Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

2Byte
DEC_MV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 509/1033


and Controls

Product-Specific Parameters
Unit:
%
Cycl. tra.: -Input
MPB:
MPD:
MPH:

4.4.47

Extr. val. ch.: +


Comb. check: --

Decim. pl.:
2
set switchable: +

min./max.
-320,00 / 320,00
-320,00 / 320,00
-320,00 / 320,00

Default value
0,00
0,00
0,00

P-0-0575, Search mode: search current factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Via P00045, 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:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Input
MPB:
MPD:
MPH:

4.4.48

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
1,00 / 320,00
1,00 / 320,00
1,00 / 320,00

Default value
60,00
60,00
60,00

P-0-0576, Search mode: finding point slip factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The search mode function is selected via "P00045, 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:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
%
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
-320,00 / 320,00
-320,00 / 320,00
-320,00 / 320,00

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
2
set switchable: +
Default value
100,00
100,00
100,00

510/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.4.49

P-0-0577, Square characteristic: lowering factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The square characteristic is selected via "P00045, 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:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Input
MPB:
MPD:
MPH:

4.4.50

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
0,00 / 100,00
0,00 / 100,00
0,00 / 100,00

Default value
50,00
50,00
50,00

P-0-0578, Current for deceleration, absolute value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

The current for deceleration, with which the asynchronous motor is decelerated
up to standstill in U/f operation or FXC operation, is entered in this parameter.
When determining the motor parameters via "P-0-0565, C3600 Command Mo
tor data identification", the value is automatically set to the rated current of the
motor.
See also Functional Description "Voltage-Controlled Operation (Open-Loop U/
f Control)"
See also Functional Description "Sensorless Motor Operation, Flux-Controlled"

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 im
proved 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 cur
rent".
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,

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 511/1033


and Controls

Product-Specific Parameters
Magnetizing current" * "P-0-0532, Premagnetization factor". By P-0-0579 un
equal zero, the current for deceleration can be maintained beyond the (calcu
lated) motor standstill.
See also Parameter Description "P-0-0579, Current for deceleration, time pe
riod"
P-0-0578 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
A eff
--

Input
MPB:
MPD:
MPH:

4.4.51

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: +

min./max.
rIREG_UzuF
[].lMinWert_P_0_0578
rIREG_UzuF
[].lMinWert_P_0_0578
rIREG_UzuF
[].lMinWert_P_0_0578

Default value
-------

P-0-0579, Current for deceleration, time period


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

In this parameter enter the time during which the current for deceleration
(P-0-0578) is generated in the asynchronous motor in U/f operation or FXC
operation.
See also Functional Description "Voltage-Controlled Operation (Open-Loop U/
f Control)"
See also Functional Description "Sensorless Motor Operation, Flux-Controlled"

Use

U/f operation
In U/f operation, the current for deceleration starts when, at velocity command
value zero, the absolute value of the (calculated) actual velocity value falls be
low the value of "S-0-0124, Standstill window". If the absolute value of the
velocity command value again exceeds the standstill window before P-0-0579
is over, the motor in U/f operation accelerates to the preset command value. If
the command value remains at zero, the current flowing in the motor is caused
by "P-0-0568, Voltage boost" after P-0-0579 is over.
FXC operation
In FXC operation, the current for deceleration starts when, at velocity command
value zero, the absolute value of the (calculated) actual velocity value falls be
low an internal frequency threshold. With the value of P-0-0579, however, the
current for deceleration can be maintained beyond standstill (calculated actual
velocity value "0").
After the time period of P-0-0579 is over, "P-0-4004, Magnetizing current" *
"P-0-0532, Premagnetization factor" is generated.
The time period of the current for deceleration which can be set can improve
the stopping process in U/f operation or FXC operation, because the detection
of stopping is inexact for sensorless motors. Adjust the value of P-0-0579 to the
stopping behavior of the axis!

512/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The default value of P-0-0579 is 0.5 sec. Entering zero deactivates
the d.c. braking!
P-0-0579 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

4.4.52

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
0 / 60000
0 / 60000
0 / 60000

Default value
500
500
500

P-0-0590, Motor model frequency loop proportional gain


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter only takes effect in conjunction with field-oriented current con
trol without encoder. Together with "P00591, Motor model frequency loop
integral action time", parameter P00590 is used to parameterize the "fre
quency loop".
By means of the differences between motor model and measured currents, the
frequency loop determines the current rotational frequency of the motor shaft.
The output of the frequency loop supplies parameter "S00040, Velocity feed
back value" and is transmitted according to the velocity loop.
Field-oriented current control without encoder is activated via
"P00045, Control word of current controller". If the functional pack
age "closed-loop" is active, "operation without encoder" has to be
set in "P00074, Encoder type 1 (motor encoder)"!
See also Functional Description "Field-Oriented Current Control"
See also Functional Description "Automatic Setting of Motor Control "

Use

Observe the following for the setting of P00590:

The value of P00590 depends on the motor type to be controlled.

During initial commissioning, this value is automatically calculated by ex


ecuting "P00565, C3600 Command Motor data identification" (with "cur
rent control without motor encoder" having been set).

The calculated value should only be changed by especially trained service


staff!

See also Parameter Description P00591 and P00592


P-0-0590 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
%
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
0,00 / 655,35

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +
Default value
10,00

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 513/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.4.53

0,00 / 655,35
0,00 / 655,35

10,00
10,00

P-0-0591, Motor model frequency loop integral action time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter only takes effect in conjunction with field-oriented current con
trol without encoder. Together with "P00590, Motor model frequency loop
proportional gain", parameter P00591 is used to parameterize the "frequency
loop".
By means of the differences between motor model and measured currents, the
frequency loop determines the current rotational frequency of the motor shaft.
The output of the frequency loop supplies parameter "S00040, Velocity feed
back value" and is transmitted according to the velocity loop.
Field-oriented current control without encoder is activated via
"P00045, Control word of current controller". If the functional pack
age "closed-loop" is active, "operation without encoder" has to be
set in "P00074, Encoder type 1 (motor encoder)"!
See also Functional Description "Field-Oriented Current Control"
See also Functional Description "Automatic Setting of Motor Control "

Use

Observe the following for the setting of P00591:

The value of P00591 depends on the motor type to be controlled.

During initial commissioning, this value is automatically calculated by ex


ecuting "P00565, C3600 Command Motor data identification" (with "cur
rent control without motor encoder" having been set).

The calculated value should only be changed by especially trained service


staff!

See also Parameter Description P00590 and P00592


P-0-0591 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.4.54

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
0,0 / 100,0
0,0 / 100,0
0,0 / 100,0

Default value
5,0
5,0
5,0

P-0-0592, Motor model adjust factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter only takes effect in conjunction with field-oriented current con
trol without encoder.

514/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The drive-internal motor model calculation carried out in the current loop clock
is corrected by means of the adjust factor entered in P00592 so that the motor
currents determined by means of the motor model and the rotor flux comply
with the real values.
Field-oriented current control without encoder is activated via
"P00045, Control word of current controller". If the functional pack
age "closed-loop" is active, "operation without encoder" has to be
set in "P00074, Encoder type 1 (motor encoder)"!
See also Functional Description "Field-Oriented Current Control"
See also Functional Description "Automatic Setting of Motor Control"
Use

Observe the following for the setting of P00592:

The value of P00592 depends on the motor type to be controlled.

During initial commissioning, this value is automatically calculated by ex


ecuting "P00565, C3600 Command Motor data identification" (with "cur
rent control without motor encoder" having been set).

The calculated value should only be changed by especially trained service


staff!

See also Parameter Description P00590 and P00591


P-0-0592 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.4.55

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,000 / 1,000
0,000 / 1,000
0,000 / 1,000

Default value
0,100
0,100
0,100

P-0-0593, FXC: Total flux loop proportional gain


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

Parameter for the proportional gain of the flux loop of sensorless, flux-controlled
motor operation. Normally, it is not necessary to adjust the value in motor-spe
cific form!
See also Functional Description "Sensorless Motor Operation, Flux-Control
led".

P-0-0593 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
1/HENRY
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,01 / 50,00
0,01 / 50,00
0,01 / 50,00

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +
Default value
0,10
0,10
0,10

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 515/1033


and Controls

Product-Specific Parameters

4.4.56

P-0-0594, FXC: Total flux loop integral action time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

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 motorspecific form. What is helpful is a run-up test with ramp-shaped velocity
command 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:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

4.4.57

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,001 / 1000,000
0,001 / 1000,000
0,001 / 1000,000

Default value
1,000
1,000
1,000

P-0-0595, FXC: Frequency loop proportional gain


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

Parameter for the proportional gain of the frequency loop of sensorless, fluxcontrolled motor operation. Normally, it is not necessary to adjust the value in
motor-specific form!
See also Functional Description "Sensorless Motor Operation, Flux-Control
led".

P-0-0595 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Hz/A
--

Input
MPB:
MPD:
MPH:

4.4.58

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,001 / 1,000
0,001 / 1,000
0,001 / 1,000

Default value
0,010
0,010
0,010

P-0-0596, FXC: Frequency loop scaling factor of inertia


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
MPB

-
-
-
MPH

-
-
-
MPD

516/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

Parameter for the percentage-based activation of the total inertia of the axis for
the integration behavior of the frequency loop with sensorless, flux-controlled
motor operation.

:
M_th:
J:
P510:
P596:

Fig.4-140:
Use

-"open loop", "closed loop"

frequency command value change of the frequency loop


internally calculated, theoretical maximum speed of the motor
inertia of the axis
inertia (P-0-0510)
frequency loop scaling factor of inertia (FXC) in %

Operating principle of the scaling factor of inertia

With the value of P-0-0596, you can influence the pitch of the frequency ramp
of the frequency loop (maximum frequency command value change). The op
timum value has been reached at maximum acceleration of the motor! Due to
increased motor currents, further changes in the value will only cause the motor
temperature to rise even more!
The frequency command value change (ramp) gets flatter, when
the value of P-0-0596 is increased!
See also Functional Description "Sensorless Motor Operation, Flux-Controlled"

P-0-0596 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Input
MPB:
MPD:
MPH:

4.4.59

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
10,0 / 1000,0
10,0 / 1000,0
10,0 / 1000,0

Default value
100,0
100,0
100,0

P-0-0597, FXC: Current loop proportional gain


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

Parameter for the proportional gain of the current loop of sensorless, flux-con
trolled motor operation.
It is not necessary to adjust the value in motor-specific form. However, if over
current ("F8060 Overcurrent in power section") occurs during acceleration 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-Controlled"

P-0-0597 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 517/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.4.60

min./max.
1 / 2000
1 / 2000
1 / 2000

Default value
100
100
100

P-0-0598, FXC: Current loop integral action time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

Parameter for the integral action time of the current loop of sensorless, fluxcontrolled motor operation.
It is not necessary to adjust the value in motor-specific form. However, if oscil
lation 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-Controlled"

P-0-0598 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

4.4.61

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
0,01 / 500,00
0,01 / 500,00
0,01 / 500,00

Default value
20,00
20,00
20,00

P-0-0599, FXC: Slip frequency filter time constant


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

Function

Parameter for slip compensation under load of a sensorless, flux-controlled


asynchronous motor. The time constant of the slip frequency filter influences
the reaction time of slip compensation in the case of load impulse.

Use

It is not necessary to adjust the value in motor-specific form. It should be in


creased, however, when the motor under load gets "out of balance" and
possibly stops, because the current limit of the device has been reached. Higher
values slow down the reaction time of the speed slip compensation and this
results in less current rise in the case of load impulse (Attention: The continuous
current of the device must be sufficient for the stationary load case!)
See also Functional Description "Sensorless Motor Operation, Flux-Controlled"

P-0-0599 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
s
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,001 / 1,000

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +
Default value
0,050

518/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.4.62

0,001 / 1,000
0,001 / 1,000

0,050
0,050

P-0-0600, FXC: Rated slip frequency


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

Parameter for slip compensation under load of a sensorless, flux-controlled


asynchronous motor. In this parameter, enter the slip frequency at rated power
so that the slip of the motor occurring under load can be compensated.

P18:
fnominal:
nnominal:

Fig.4-141:

number of pole pairs (P-0-0018)


rated frequency acc. to motor type plate
rated speed acc. to motor type plate

Calculating P-0-0600, FXC: Rated slip frequency

Slip compensation takes effect proportionally with the value in


P-0-0600; it therefore no longer takes effect by entering the mini
mum value!
See also Functional Description "Sensorless Motor Operation, Flux-Controlled"
P-0-0600 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Hz
--

Input
MPB:
MPD:
MPH:

4.4.63

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: +

min./max.
0,01 / 20,00
0,01 / 20,00
0,01 / 20,00

Default value
0,10
0,10
0,10

P-0-0601, Configuration motor data identification


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter is used to configure the method of determination of the motor


and control parameters of third-party motors at the execution of "P-0-0565,
C3600 Command Motor data identification".

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 519/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

Comment

1/0 determine the magnetizing inductance (P-0-4041)

as
MPx05VRS

00: motor shaft cannot move freely (default)

of

01: motor shaft can move freely


10: reserved
11: reserved

Fig.4-142:
Use

Relevant bits of P-0-0601, Configuration motor data identification

Bit 1/bit 0
The magnetizing inductance of the asynchronous motor is an important data
for sensorless, flux-controlled operation of this motor. The exactness of the
determined value is decisive for making available the correct magnetic flux in
the motor. Automatic determination of the value is more exact when the motor
is turning than when the motor is in standstill.
Bit 0 and bit 1 determine whether, at the execution of "P-0-0565, C3600 Com
mand Motor data identification", the controller accelerates the motor to 50% of
the rated speed when determining "P-0-4041, Motor magnetizing
inductance" (bit 1="0", bit 0="1")
- or whether the magnetizing inductance is determined at motor standstill (bit 1="0",
bit 0="0"). By means of the preset value of "P-0-4004, Magnetizing current", the
controller determines the value of "P-0-4041, Motor magnetizing inductance".

Danger caused by errors when controlling motors and moving parts!


Motor shaft is put into rotation on the controller side! Mount cover and touch
guard!

DANGER

See also Functional Description "Sensorless Motor Operation, Flux-Controlled"


P-0-0601 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.4.64

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: +

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0612, Control word for setting absolute measuring


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In this parameter select the absolute encode for which the position data refer
ence is to be established. In addition, set whether, next to "P-0-0012, C0300
Command Set absolute measuring", "S00148, C0600 Drive-controlled hom
ing procedure command" is to be possible with absolute measuring system.
See also Functional Description "Establishing the Position Data Reference"

520/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Structure

Bit

Designation/function

4/3

encoder selection

Comment

00: motor encoder


10: external encoder
01: measuring encoder
15

C0600 Drive-controlled homing procedure command

as of MPx04

allowed for abs. measuring system (only applies to motor


encoder and optional (ext.) encoder)
0: no
1: yes

Fig.4-143:
P-0-0612 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of P-0-0612


Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.4.65

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0 / 0x8018
0 / 0x8018
0 / 0x8018

Default value
0
0
0

P-0-0620, Encoder validation monitoring signal


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-closed loop

-
-
-
MPH

-
-
-
MPD

Display parameter for the monitoring signal of encoder validation monitoring.


See also Functional Description "Compensation Functions/Corrections"

Use

P-0-0620 - Attributes

Depending on the flux-generating component, as well as on the speed of the


motor, a voltage value is calculated and output via this parameter. The more
exact the parameterization of the motor (commutation offset setting, motor in
ductance, ...), the lower the voltage value which is output. The parameter is
used to assess the safety of encoder validation monitoring to avoid false trig
gering. In the required speed range of the machine, you have to make sure that
the parameter value is within the limits P-0-0621 and P-0-0622. When the value
leaves the limit range, the error message F8023 is generated.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
-V
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
2
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 521/1033


and Controls

Product-Specific Parameters

4.4.66

P-0-0621, Encoder validation upper monitoring threshold


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-closed loop

-
-
-
MPH

-
-
-
MPD

Display parameter for the upper monitoring threshold of encoder validation


monitoring.
See also Functional Description "Compensation Functions/Corrections"

Use

P-0-0621 - Attributes

When the value of parameter P-0-0620 exceeds the upper monitoring threshold
P-0-0621, the error "F8023 Error mechanical link of encoder or motor connec
tion" is triggered. During operation, the monitoring threshold is dynamically
corrected and can be influenced via the parameter "P-0-0520, Encoder valida
tion error threshold factor".
Function:
Memory:
Unit:
Cycl. tra.:

Par
-V
AT

Input
MPB:
MPD:
MPH:

4.4.67

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
2
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0622, Encoder validation lower monitoring threshold


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-closed loop

-
-
-
MPH

-
-
-
MPD

Display parameter for the lower monitoring threshold of encoder validation


monitoring.
See also Functional Description "Compensation Functions/Corrections"

Use

When the value of parameter P-0-0620 falls below the lower monitoring thresh
old P-0-0622, the error "F8023 Error mechanical link of encoder or motor
connection" is triggered.
During operation, the monitoring threshold is dynamically corrected and can be
influenced via the parameter "P-0-0520, Encoder validation error threshold fac
tor".

P-0-0622 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
-V
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
2
set switchable: -Default value
-------

522/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.4.68

P-0-0640, Cooling type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The motors of the MSK, MHD and MKD series can be operated in different
cooling types. Depending on the motor type, cooling can be realized as

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" and "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). For the respective motor type it is stored in the parameter
"P02111, Motor current at standstill, encoder memory" and loaded, together
with other motor parameters, to the controller when the drive is switched on
(P02111 -> "S00111, Motor current at standstill").
This parameter has to be set to the realized cooling type. By the cooling type
factor assigned firmware-internally to the cooling type...

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 firmware-internal


motor temperature model is determined by means of the value of
"P04035, Thermal time constant of motor" (refers to standard cooling).

the allowed continuous current at which the firmware-internal motor tem


perature model sets the limit is determined ("S00111, Motor current at
standstill" * cooling type factor).

Realized motor cooling

P-0-0640,
Cooling type

Cooling
type fac
tor

0 (default)

1.0

surface ventilation

1.5

liquid cooling

1.9

natural convection, non-venti


lated, improved cooling (heat
discharge at motor flange)

1.2

as of MPx02V26,
MPx03V16 and
MP*04VRS

natural convection, non-venti


lated, thermal effect via motor
flange (e.g. gear mounting)

0.85

as of MPx02V26,
MPx03V16 and
MP*04VRS

natural convection, non-venti


lated

Fig.4-144:

Comment

Cooling type factor depending on the value of P-0-0640

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 523/1033


and Controls

Product-Specific Parameters
The default value for P00640 is "0" which means that the reference
value has been set to the standard cooling type of the motor. For
motors other than MSK, MHD and MKD, only the value "0" is al
lowed!
Adjusting the 100% value to the realized cooling type
In the case of percentage-based scaling for torque/force data (bits 0...2 of
"S00086, Torque/Force data scaling type"), the reference value (100%) for
MSK, MHD and MKD motors can be adjusted, by this parameter, to the cooling
type that has been realized.
With the cooling type factor, it is possible to calculate the reference value (100%
value), see parameter description "S00086, Torque/force data scaling type".
P-0-0640 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.4.69

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
StdNul / 4
StdNul / 4
StdNul / 4

Default value
0
0
0

P-0-0681, Assignment IDN -> parallel output 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
-
-

With this parameter it is possible to assign the value of a parameter to the


parallel output at the optional module HEA01. The lowest 8 bits of the assigned
parameter are output.
If an IDN is assigned to the parallel output at the HEA01, the cor
responding parameter "P00081, Parallel output 1" cannot be writ
ten any more by the other axis of the double-axis device.
See also Functional Description "Digital Inputs/Outputs"

P-0-0681 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.4.70

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0682, Assignment parallel input 1 -> IDN


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
-
-

MPH
MPH
MPH
MPH

MPD
MPD
-
-

524/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

With this parameter the parallel input of the optional module HEA01 can be
assigned to the value of a parameter.
The input status of the HEA01 is written to the respective parameter in rightaligned form with a width of 12 bits.
If the inputs of a HEA01 are assigned to a IDN by means of the
parameter P00682, the operating data of this assigned IDN is cy
clically overwritten with the input value of the HEA01.
See also Functional Description "Digital Inputs/Outputs"

P-0-0682 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.4.71

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0686, Additive position command value, positioning velocity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Maximum position change (=velocity) with which "S00048, Additive position


command value" is added to the synchronous position command value of the
slave axis.
"S00048" is used to preset an additive offset for the synchronous
position command value of the master axis position for slave axis.
See also Functional Description "Synchronization Modes"

Use

P-0-0686 - Attributes

The following has to be observed for usage:

When a position synchronization mode is activated, drive-controlled syn


chronization is carried out. The profile is determined either by a 5th order
polynomial or by the parameters "P00142, Synchronization acceleration"
and "P00143, Synchronization velocity".

The way in which subsequent changes of S00048 will be processed de


pends on bit 0 of "P00155, Synchronization mode".

Bit0 = 1: changes are smoothed by a 1st order filter

Bit0 = 0: Changes are defined via the parameters "P00686, Additive


position command value, positioning velocity" and "P00687, Addi
tive position command value, positioning acceleration".

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0044

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 525/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.4.72

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
1,0000
1,0000
1,0000

P-0-0687, Additive position command value, positioning acceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Maximum velocity change (=acceleration) with which "S00048, 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 value,
positioning velocity"

P-0-0687 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.4.73

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
100,000
100,000
100,000

P-0-0688, Additive master axis position, positioning velocity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Maximum position change (=velocity) with which "P00054, Additive master


axis position" is added to the master axis angle.
Parameter P00054 is used to preset an additive offset to the ef
fective master axis position.
See also Functional Description "Synchronization Modes"

Use

P-0-0688 - Attributes

The following has to be observed for usage:

The adjustment to a preset offset is carried out with defined velocity and
acceleration limitation.

The limit values are parameterized in the parameters "P00688, Additive


master axis position, positioning velocity" and "P00689, Additive master
axis position, positioning acceleration".

The velocity profile which is traveled when P00054 has been changed
then is trapezoidal.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte
DEC_OV

526/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
Rpm
Cycl. tra.: MDT
Input
MPB:
MPD:
MPH:

4.4.74

Extr. val. ch.: +


Comb. check: --

Decim. pl.:
4
set switchable: --

min./max.
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong

Default value
10,0000
10,0000
10,0000

P-0-0689, Additive master axis position, positioning acceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Maximum velocity change (=acceleration) with which "P00054, Additive mas


ter axis position" is added to the master axis angle.
See also Functional Description "Synchronization Modes"
See also Parameter Description "P-0-0688, Additive master axis position, po
sitioning velocity"

P-0-0689 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
rad/s
MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
0,000 / MaxULong
0,000 / MaxULong
0,000 / MaxULong

Default value
10,000
10,000
10,000

4.5

P-0-0690 - P-0-0899 Synchronization Mode

4.5.1

P-0-0690, Additive velocity command value, process loop


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

In addition to S00037, parameter P00690 is used to set an additive velocity


command value.
P00690 can preferably be used for drive-based process loops (by
means of MLD)!

Use

Observe the following when using P00690:

P00690 takes effect in all operating modes in which the velocity loop is
used.

In the velocity synchronization mode, P00690 is taken into account for


generating the "In Synchronization" bit.

In the case of drive-internal command value generation (Drive Halt, error


reaction, ...), P00690 is set to "0".

See also Functional Description "Velocity Control"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 527/1033


and Controls

Product-Specific Parameters
P-0-0690 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.5.2

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
0,0000
0,0000
0,0000

P-0-0691, Additive position command value, process loop


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

In addition to S00048, parameter P00691 is used to set an additive position


command value.
P00690 can preferably be used for drive-based process loops (by
means of MLD)!
See also Functional Description "Control Loop Structure"
See also Functional Description "Synchronization - Operating Mode"

Use

P-0-0691 - Attributes

Observe the following when using P-00691:

P00691 takes effect in the synchronization modes with outer position


control loop (phase synchronization, cam shaft, motion profile).

The input value of P00691 then is smoothed with a 1st order filter, when
bit 0 has not been set in "P00155, Synchronization mode". "P00060,
Filter time constant additional pos. Command" is then used for the filter of
P00691.

When bit 1 has been set in "P00155, Synchronization mode", P00691


takes effect in unfiltered form. Parameter "P00060, Filter time constant
additional pos. Command" then is used for filtering "S00048, Additive
position command value".

P00691 is taken into account for the generation of the "In Synchroniza
tion" bit (bit 8, "P00089, Status word for synchronous operating modes").
The bit is set when the following applies: | Xsynch + S-0-0048 + P-0-0691
P-0-0753| < S-0-0228.

P00691 is also taken into account for generating "P00034, Position


command additional actual value". The following applies: P-0-0034 =
P-0-0753 Xsynch P-0-0691.

When "relative synchronization" has been set (bit 1, P-0-0155 = 1), there
is no synchronization motion (with the master axis having stopped) when
the synchronous operating mode is activated. Changes in P00691 that
are made afterwards are processed in relative form.

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

S-0-0076

Cycl. tra.: MDT

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

528/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.5.3

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0692, Additive master axis position, process loop


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

The given value of P00692 is smoothed with a 1st order filter and then added
to the sum of "P00054, Additive master axis position" and "P00053, Master
axis position" or "P00052, Actual position value of measuring encoder".
The time constant of the filter is defined with parameter P00693.
See also Functional Description "Control Loop Structure"
See also Functional Description "Synchronization Modes"

Use

Record of Modifications

P-0-0692 - Attributes

Observe the following for parameterizing P00692:

The maximum value (modulo value) of P00692 is determined by the


master axis cycle.

The master axis cycle is the product of "P00750, Master axis revolutions
per master axis cycle", with 2^20.

Approximation to a new value always takes place over the shortest dis
tance.

Version
up to MPx04VRS
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.5.4

Attribute
Format: DEC_OV
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Comment
Data length: 4Byte
Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong

Default value
0
0
0

P-0-0693, Filter time constant, add. master axis pos., process loop
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter determines the time constant of a 1st order filter. This filter is
used to smooth "P00692, Additive master axis position, process loop".
See also Functional Description "Synchronization Modes"

P-0-0693 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 529/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.5.5

min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35

Default value
0,00
0,00
0,00

P-0-0694, Gear ratio fine adjust, process loop


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

With the percentage-based value of this parameter, a factor is generated which


takes effect in the electronic gear.
Parameterization
To generate the factor the preset value is divided by 100 and 1 is added.
See also Functional Description "Synchronization"

P-0-0694 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-%
MDT

Input

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
6
set switchable: --

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

MPB:
MPD:
MPH:

4.5.6

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Default value
0,000000
0,000000
0,000000

P-0-0695, Angle offset begin of profile, process loop


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

See also Functional Description "Control Loop Setting"


See also Functional Description "Synchronization"

Use

P-0-0695 - Attributes

Observe the following for parameterizing P00695:

The master axis position after the electronic gear is reduced by the angle
parameterized in P00695.

The range of values of P00695 is from 0 to 360 degrees. 360 degrees


(one master axis revolution) corresponds to a value of 2^20.

Approximation to a new value always takes place over the shortest dis
tance.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
-Deg
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

min./max.
0,0000 / 359,9999

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: -Default value
0,0000

530/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.5.7

0,0000 / 359,9999
0,0000 / 359,9999

0,0000
0,0000

P-0-0696, Filter time constant, angle offset profile, process loop


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter determines the time constant of a 1st order filter. This filter is
used to smooth "P00692, Additive master axis position, process loop".
See also Functional Description "Synchronization"

P-0-0696 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

4.5.8

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35

Default value
0,00
0,00
0,00

P-0-0697, Synchronization, master axis synchronous position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter takes effect when single-step synchronization (bit 6 = 1) has


been set in "P00155, 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 "P00776, Effective master axis position" passes the master axis start
position. The master axis start position is calculated in the following way:

P-0-0697
P-0-0698

Fig.4-145:

Synchronization, master axis synchronous position


Synchronization, master axis synchronization range

Calculating master axis start position

Synchronization is completed when the master axis position has run through
the master axis synchronization range and has reached the value indicated in
this parameter. The parameter refers to the output of the electronic gear (pa
rameter "P00776, Effective master axis position").
The allowed range of values is between 0 and 359.9999.
P-0-0697 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Deg
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 531/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.5.9

min./max.
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999

Default value
0,0000
0,0000
0,0000

P-0-0698, Synchronization, master axis synchronization range


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter takes effect when single-step synchronization (bit 6 = 1) has


been set in "P00155, Synchronization mode". It defines the distance within
which synchronism is to have been established.
See also Functional Description "Basic Functions of the Synchronization
Modes"

P-0-0698 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Deg
MDT

Input
MPB:
MPD:
MPH:

4.5.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / MaxULong
0,0000 / MaxULong
0,0000 / MaxULong

Default value
180,0000
180,0000
180,0000

P-0-0700, Motion profile, master axis switching position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

While the operating mode "electronic motion profile" is active, the sequence of
motion can be changed in the second, inactive data set. The parameter defines
the position at which switching to the selected, inactive set takes place.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

The active set is selected with "P00088, Control word for synchronous oper
ation 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 "P00227, Cam shaft profile, access angle" pass
es the switch angle set in this parameter. Switching is acknowledged with bit 3
of "P-0-0089, Status word for synchronous operating modes". After switching
has taken place, the bits of status word and control word are identical.

P-0-0700 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
Deg
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,0000 / 359,9999

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: -Default value
0,0000

532/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.5.11

0,0000 / 359,9999
0,0000 / 359,9999

0,0000
0,0000

P-0-0701, Motion step 1, slave axis initial position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter takes effect when absolute position processing of the motion
profile was set in bit 10 of P-0-0088, Control word for synchronous operation
modes.
After synchronization, the position command value generated in the operating
mode "electronic motion profile" corresponds to the position set in this param
eter, when the profile access angle (P-0-0227) is "0", i.e. at the beginning of the
1st motion step.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

P-0-0701 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.5.12

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
0,0000
0,0000
0,0000

P-0-0702, Motion profile, diagnosis, set 0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

A validation check is carried out for the sequence of motion parameterized in


set 0 for the operating mode "electronic motion profile".
If one of the checks results in discrepancy, a number is displayed in this pa
rameter. The cause of the discrepancy can be recognized by this number. The
numbers have the following significance:
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"
See Troubleshooting Guide for "F2004 Error in motion profile"

P-0-0702 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
0 / 100

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 533/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.5.13

0 / 100
0 / 100

0
0

P-0-0703, Number of motion steps, set 0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter determines, for set 0 of the operating mode "electronic motion
profile", of how many motion steps the sequence of motion consists which is
processed per master axis revolution.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

P-0-0703 - Attributes

When relative actual position value reference has been set ("P-0-0088, Control
word for synchronous operation modes", bit 10 = 1), the sequence of motion
must consist of at least two steps.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.14

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1/8
1/8
1/8

Default value
8
8
8

P-0-0704, Master axis velocity, set 0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter indicates at which constant velocity the master axis moves
when set 0 of the operating mode "electronic motion profile" is active.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

P-0-0704 - Attributes

Indicating the master axis velocity is necessary when a motion step is used for
which the slave axis velocity if determined (standard profile rest in velocity,
velocity in velocity or velocity in rest). The indicated value must relate to the
output of the electronic gear.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
1/min
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,1000 / 10000,0000
0,1000 / 10000,0000
0,1000 / 10000,0000

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: -Default value
100,0000
100,0000
100,0000

534/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.5.15

P-0-0705, List of master axis initial positions, set 0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter determines, for set 0 of the operating mode "electronic motion
profile", the master axis positions (or profile access angles) at which the motion
steps start.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

P-0-0705 - Attributes

Setting is such that motion step 1 starts 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).
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Deg
MDT

Input
MPB:
MPD:
MPH:

4.5.16

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999

Default value
-------

P-0-0706, List of motion step modes, set 0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter determines, for set 0 of the operating mode "electronic motion
profile", the characteristics of the individual motion steps.
See also Functional Description "Electronic Motion Profile With Real/Virtual
Master Axis"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 535/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

30

motion step profile

Comment

0000: analytic profile


0001: cam shaft 1 (P-0-0072)
0010: cam shaft 2 (P-0-0092)
0011: cam shaft 3 (P-0-0780)
0100: cam shaft 4 (P-0-0781)
0101: cam shaft 5 (P-0-0782)
0110: cam shaft 6 (P-0-0783)
0111: cam shaft 7 (P-0-0784)
1000: cam shaft 8 (P-0-0785)
128

profile type
0 0000: R-R with inclined sine curve
0 0001: R-R with 5th order polynomial
0 0010: R-G
0 0100: G-R
0 0110: G
0 0111: G-G
1 0010: R-R VLim

R-R
R-R VLim
R-G
G-R
G
G-G

Fig.4-146:
Use

rest in rest
rest in rest with limited velocity
rest in velocity
velocity in rest
constant velocity
velocity in velocity

Motion step modes

When the bits 0...3 are "0", the profile of the step is determined by the bits 8...12.
If bits 0...3 represent a number between 1 and 8, the profile of this step is de
termined by the corresponding cam shaft profile (no. 1...8). This list must have
at least as many elements as set 0 has motion steps (P-0-0703).

P-0-0706 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.17

PM+OM
PM->OM
+
--

Data length: 2Byte var.


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0 / 0x1200
0 / 0x1200
0 / 0x1200

Default value
-------

P-0-0707, List of distances, set 0


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

536/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

This parameter determines, for set 0 of the operating mode "electronic motion
profile", the distances which are traveled in the individual motion steps.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

If a standard profile and not a cam shaft profile has been selected in the motion
step, the distance determines the path which is traveled in the corresponding
step. If a cam shaft profile has been selected, the traveled path results from the
product of distance and last value of the profile.
If absolute position processing has been set for this operating 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
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.5.18

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
-------

P-0-0708, List of slave axis velocities, set 0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This list determines, for set 0 of the operating mode "electronic motion profile",
the slave axis velocities which occur in the individual motion steps at the be
ginning or at the end.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

Indicating the slave axis velocity is necessary when on of the standard profiles
R-G (rest in velocity), G-R (velocity in rest) or G-G (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 calcu
lated in such a way that the parameterized velocity results at the slave axis at
the end (for R-G) or at the beginning (for G-R and G-G) 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
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte var.
DEC_MV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 537/1033


and Controls

Product-Specific Parameters
Unit:

S-0-0044

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.5.19

Extr. val. ch.:

Comb. check: --

S-0-0045 /
S-0-0046
set switchable: -Decim. pl.:

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-0709, Motion profile, diagnosis, set 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

A validation check is carried out for the sequence of motion parameterized in


set 1 for the operating mode "electronic motion profile".
If one of the checks results in discrepancy, a number is displayed in this pa
rameter. The cause of the discrepancy can be recognized by this number.
See Troubleshooting Guide for "F2004 Error in motion profile"
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

P-0-0709 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.5.20

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 100
0 / 100
0 / 100

Default value
0
0
0

P-0-0710, Number of motion steps, set 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter determines, for set 1 of the operating mode "electronic motion
profile", of how many motion steps the sequence of motion consists which is
processed per master axis revolution.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

P-0-0710 - Attributes

When relative actual position value reference has been set ("P-0-0088, Control
word for synchronous operation modes", bit 10 = 1), the sequence of motion
must consist of at least two steps.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

538/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.5.21

min./max.
1/8
1/8
1/8

Default value
8
8
8

P-0-0711, Master axis velocity, set 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter indicates at which constant velocity the master axis moves
when set 1 of the operating mode "electronic motion profile" is active.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

P-0-0711 - Attributes

Indicating the master axis velocity is necessary when a motion step is used for
which the slave axis velocity if determined (standard profile rest in velocity,
velocity in velocity or velocity in rest). The indicated value must relate to the
output of the electronic gear.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
1/min
MDT

Input
MPB:
MPD:
MPH:

4.5.22

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
0,1000 / 10000,0000
0,1000 / 10000,0000
0,1000 / 10000,0000

Default value
100,0000
100,0000
100,0000

P-0-0712, List of master axis initial positions, set 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter determines, for set 1 of the operating mode "electronic motion
profile", the master axis positions (or profile access angles) at which the motion
steps begin.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

Setting is such that motion step 1 starts 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 1 has motion steps
(P-0-0710).

P-0-0712 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
Deg
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,0000 / 359,9999

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
4
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 539/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.5.23

0,0000 / 359,9999
0,0000 / 359,9999

-----

P-0-0713, List of motion step modes, set 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter determines, for set 1 of the operating mode "electronic motion
profile", the characteristics of the individual motion steps.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

This list must have at least as many elements as set 1 has motion steps
(P-0-0710).
See also Parameter Description "P-0-0706, List of motion step modes, set 0"

P-0-0713 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.24

PM+OM
PM->OM
+
--

Data length: 2Byte var.


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0 / 0x1200
0 / 0x1200
0 / 0x1200

Default value
-------

P-0-0714, List of distances, set 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter determines, for set 1 of the operating mode "electronic motion
profile", the distances which are traveled in the individual motion steps.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

If a standard profile and not a cam shaft profile has been selected in the motion
step, the distance determines the path which is traveled in the corresponding
step. If a cam shaft profile has been selected, the traveled path results from the
product of distance and last value of the profile. If absolute position processing
has been set for this operating 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 1 has motion steps
(P-0-0710).

P-0-0714 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

540/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.5.25

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
-------

P-0-0715, List of slave axis velocities, set 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This list determines, for set 1 of the operating mode "electronic motion profile",
the slave axis velocities which occur in the individual motion steps at the be
ginning or at the end.
See also Functional Description "Electronic Motion Profile with Real/Virtual
Master Axis"

Use

Indicating the slave axis velocity is necessary when on of the standard profiles
R-G (rest in velocity), G-R (velocity in rest) or G-G (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 calcu
lated in such a way that the parameterized velocity results at the slave axis at
the end (for R-G) or at the beginning (for G-R and G-G) 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-0-0710).

P-0-0715 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0044

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.5.26

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-0750, Master axis revolutions per master axis cycle


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The parameter P00750 defines the modulo range for "P00053, Master axis
position" plus "P00054, Additive master axis position". The information on the
range of the master axis cycle is given to the drive with this parameter. Within
this range, overflows of the master axis position can be processed correctly.
See also Functional Description "Synchronization Modes"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 541/1033


and Controls

Product-Specific Parameters
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 number
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 (P00156) of the respective slave axes.
Special case P-0-0750 = 0
Modulo scaling of slave axis:
If the value "0" is written to the parameter, the user has to write S00103 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:
In the case of absolute scaling, the value "0" has to be written to parameter
P-0-0750. Make sure that the master axis range is not exceeded, that the mas
ter axis range value does not fall below the limit and that the derived slave axis
position is not outside of the maximum travel range. Otherwise, this causes
accidental axis motion.
Master axis range with P-0-0750 = 0
Master axis range: -231 increments to 231 1 increments.
This corresponds to 232 2P-0-0084 master axis revolutions.

P-0-0750 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.5.27

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 2047
0 / 2047
0 / 2047

Default value
1
1
1

P-0-0751, Synchronization divisions per command cycle slave axis


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

A division of the command value cycle is defined with this parameter. The num
ber of divisions that are contained in the command value cycle is indicated in
parameter P00751.
See also Functional Description "Synchronization Modes"

Use

This means that the command value cycle is divided by the value of parameter
P00751 in order to determine the division. The size of the command value
cycle is contained in parameter "P00754, Command value cycle". The syn
chronization 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 syn

542/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
chronization division can be smaller or greater than a load revolution of the
drive.
P-0-0751 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.5.28

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1 / 32767
1 / 32767
1 / 32767

Default value
1
1
1

P-0-0752, Load revolutions per actual value cycle slave axis


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Function

With modulo position scaling, the actual value cycle determines the maximum
range of actual position values at the slave axis. This parameter indicates the
number of modulo ranges S00103 of which the actual value cycle consists.
The drive then generates an actual position value that is within this range and
that can be read from parameter "P-0-0753, Position actual value in actual value
cycle".

Use

The actual value cycle is required if, in the case of phase synchronization or
cam shaft, synchronization is to be carried out in a range greater than the mod
ulo value S00103. The synchronization range can then be the command value
cycle or a division of it. For synchronization, the actual position value in the
command value cycle or a division of it is deduced from the actual position value
in the actual value cycle by means of modulo division. In order to always have
unequivocal values, the actual value cycle has to be an integer multiple of the
command value cycle. This has to be taken into account when determining the
actual value cycle.
If several electronic gear ratios are to be set at an axis (e.g. because of different
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 number
of load revolutions per actual value cycle of the slave axis can be set to "1".

P-0-0752 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
1 / 65535
1 / 65535
1 / 65535

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
1
1
1

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 543/1033


and Controls

Product-Specific Parameters

4.5.29

P-0-0753, Position actual value in actual value cycle


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

With "phase synchronization" or "cam shaft and modulo position scaling", this
parameter indicates a current actual position value.
See also Functional Description "Synchronization Modes"

Use

This value is within a range that is generated depending on bit 4 of parameter


"P00155, Synchronization mode". If this bit 4 = 0, the modulo range of the
actual value cycle is generated by multiplication of "P00752, Load revolutions
per actual value cycle slave axis" with "S00103, Modulo value". With bit 4 = 1
the actual value cycle corresponds to the value of P00754, Command value
cycle. This actual position value is set by the command "set absolute measur
ing" or by the "drive-controlled homing procedure" for the actual position value
that has been selected in the synchronization mode that was set. If, for example,
the operating mode "phase synchronization with virtual master axis, encoder 1"
has been set, "P00753, Position actual value in actual value cycle" will change
by analogy with actual position value 1. Its range, however, is limited to
"S00103, Modulo value". Homing of the actual position value 1 then causes
"P00753, Position actual value in actual value cycle" to be set to the same
value as actual position value 1. The position status of the actual position value
in the actual value cycle can be taken from bit 4 of parameter "P00089, Status
word for synchronous operating modes".
When activating the operating mode for synchronization, the travel distance for
synchronization is determined with the actual position value in the actual value
cycle. The result is a limitation of the travel distance to the synchronization
range (command value cycle, division of the command value cycle or modulo
range) that has been set.

P-0-0753 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT

Comb. check: --

Input
MPB:
MPD:
MPH:

4.5.30

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0754, Command value cycle


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The command value cycle defines the range that includes the synchronous
position command values of an axis that is operated in the phase synchroni
zation mode. The command value cycle is calculated by the drive. For calcu
lation the data of the following parameters are used:

544/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Use

"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"

"S00103, Modulo value"

The following applies to rotary position scaling:

Fig.4-147:

Rotary position scaling

The following applies to linear position scaling:

Fig.4-148:

Linear position scaling

With cam shaft mode and P00755, Gear reduction = 0 the following applies
additionally:

Fig.4-149:

Cam shaft mode

If one of the parameters of the master drive gear (P00156, P00157)


changes, the command value cycle changes, too.
The command value cycle can be selected in parameter "P00155, Synchro
nization mode" as a range for synchronization. With parameter "P00751,
Synchronization divisions per command cycle slave axis" a division of the com
mand value cycle can be defined. This division can also be selected for
synchronization in "P00155, Synchronization mode".
P-0-0754 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.5.31

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0755, Gear reduction


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 545/1033


and Controls

Product-Specific Parameters
Function

This parameter is used to set a movement that is phase synchronous with the
master axis, in the operating modes "cam shaft" and "electronic motion profile".
With an endlessly turning axis, the forward movement is realized with the linear
component, the compensatory movements via the cam shaft.
The linear component is switched on by bit 4 of "P00086, Configuration word
synchronous operating 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.4-150:

Generating the additive synchronous position command value with mod


ulo scaling

When using the parallel phase-synchronous movement, it is nec


essary to set modulo position scaling.
P-0-0755 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.5.32

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 32767
0 / 32767
0 / 32767

Default value
1
1
1

P-0-0756, Virtual master axis, scaling type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter determines the scaling type, unit and processing format for po
sition/velocity and acceleration data for the virtual master axis. The jerk is not
mentioned. The jerk data are derived from this parameter.
The position data and velocity data have 4 decimal places. The ac
celeration and the jerk have 2 decimal places.

546/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Bit

Position data

2-0

Structure

Velocity data

Acceleration data

scaling type

scaling type

scaling type

001: linear scaling

001: linear scaling

001: linear scaling

010: rotary scaling

010: rotary scaling

010: rotary scaling

unit for linear scaling

unit for linear scaling

unit for linear scaling

0: millimeter [mm]

0: mm/min

0: mm/s2

1: inch [in]

1: in/min

1: in/s2

unit for rotary scaling

unit for rotary scaling

unit for rotary scaling

0: angular degrees

0: revolution [rpm]

0: radian [rad/s2]

1: reserved

1: reserved

1: reserved

modulo format

without significance

without significance

0: absolute scaling
1: modulo scaling

Fig.4-151:
P-0-0756 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-0756, Virtual master axis, scaling type


Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.5.33

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0x0082
0x0082
0x0082

P-0-0757, Virtual master axis, modulo value


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Function

When bit 7 was set to "1" in parameter "P-0-0756, Virtual master axis, scaling
type", parameter "P00757, 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:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647

Default value
360,0000
360,0000
360,0000

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 547/1033


and Controls

Product-Specific Parameters

4.5.34

P-0-0758, Virtual master axis, actual position value


Allocation

Function
Use

P-0-0758 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPD
MPD

This parameter displays the virtual actual position value.


With the master axis generator deactivated ("P-0-0917, Control word of master
axis generator", bit 0 = 0), it is possible to pre-initialize the actual position value
in the parameter mode or in the operating mode.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
-214748,3648 /
214748,3647
-214748,3648 /
214748,3647
-214748,3648 /
214748,3647

MPB:
MPD:
MPH:

4.5.35

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

Default value
0,0000
0,0000
0,0000

P-0-0759, Virtual master axis, actual velocity value


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

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 master
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 master axis
"P-0-0761, Master axis position for slave axis" in control.

P-0-0759 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
PM->OM
+
--

min./max.
-214748,3648 /
214748,3647
-214748,3648 /
214748,3647
-214748,3648 /
214748,3647

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: -Default value
0,0000
0,0000
0,0000

548/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.5.36

P-0-0760, Virtual master axis, positioning control word


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter is used as control word for virtual positioning.


Bit

Designation/function

Comment

acceptance of positioning command values


applied by toggling

2/1

activation of positioning
00: positioning active, start at change of bit 0
positioning aborted by:
01: infinite travel in positive direction
10: infinite travel in negative direction
11: stopping the axis (positioning stop)

kind of positioning command value


0: absolute
1: relative

reference of new target position (P-0-0767) in the case of


relative positioning to...
0: previous target position
1: current actual position value

12

activation of secondary master


0: positioning mode
1: secondary master

Fig.4-152:
Use

P-0-0760 - Attributes

P-0-0760, Virtual master axis, positioning control word

Bit bit 12 having been set, the movement of the secondary master (P-0-0761)
phase-synchronous to a primary master is active. The primary master is defined
via parameter "P-0-0924, Selection primary master". In P-0-0760, the least sig
nificant bits are without effect when bit 12 has been set.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.5.37

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0761, Master axis position for slave axis


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

-
-
MPB

-
-
MPH

-
-
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 549/1033


and Controls

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

P-0-0761 - Attributes

MPD

This parameter contains the value, converted to the master axis format, of the
signal source specified by parameter "P-0-0916, Master axis format converter
signal selection".
Function:
Memory:
Unit:
Cycl. tra.:

Par
-Incr
AT

Input
MPB:
MPD:
MPH:

4.5.38

MPB
MPH
-synchronisation (ELS)

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0764, Master axis speed


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The master axis speed is the sum of the change of "P00053, Master axis
position" and "P00054, Additive master axis position" for a synchronous op
erating mode with virtual master axis per NC cycle, or for a synchronous
operating mode with real master axis per TgenCounter cycle. The master axis
speed is indicated in rpm.
See also Functional Description "Synchronization Modes"
See also Functional Description "Velocity Synchronization with Real/Virtual
Master Axis"

P-0-0764 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Rpm
AT

Input
MPB:
MPD:
MPH:

4.5.39

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0765, Modulo factor measuring encoder


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The parameter "P-0-0765, Modulo factor measuring encoder" determines the


absolute range of the measuring encoder. The input is a factor of 2P-0-0084, Number
of bits per master axis revolution so that the following applies:
modulo range of measuring encoder = modulo factor measuring enc. * 2P-0-0084

550/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
When inputting "0" as value for P-0-0765, the position data range of the meas
uring encoder is from -231 increments to 231 -1 increments.
This corresponds to 232 2P-0-0084 measuring encoder revolutions.
See Functional Description "Measuring Encoder"
Use

P-0-0765 - Attributes

The measuring encoder is evaluated and displayed in this range. If the modulo
factor of the measuring encoder is * 2P-0-0084 smaller than the absolute display
range of the measuring encoder (automatically determined by the selected en
coder), bit 6 is set in parameter "P00328, Type of position encoder for
measuring encoder" (absolute encoder evaluation is possible).
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.5.40

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 2047
0 / 2047
0 / 2047

Default value
1
1
1

P-0-0766, Virtual master axis, positioning command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Via this parameter, the target position (absolute position) or a relative travel
distance is input for the master axis generator.
The effective target position at which the virtual axis positions can
be read at any time from "P-0-0767, Virtual master axis, effective
target position!

Use

When the edge of bit 0 of "P-0-0760, Virtual master axis, positioning control
word" changes, the master axis generator, controlled by an internally generated
position command value, moves to a virtual axis position which corresponds to
"P-0-0766, Virtual master axis, positioning command value".
When doing this, the master axis generator takes the following positioning data
into account:

P-0-0766 - Attributes

P-0-0770, Virtual master axis, positioning velocity

P-0-0771, Virtual master axis, positioning acceleration

P-0-0772, Virtual master axis, positioning deceleration

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
-214748,3648 /
214748,3647

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: -Default value
0,0000

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 551/1033


and Controls

Product-Specific Parameters
-214748,3648 /
214748,3647
-214748,3648 /
214748,3647

MPD:
MPH:

4.5.41

0,0000

P-0-0767, Virtual master axis, effective target position


Allocation

Function
Use

P-0-0767 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Via this parameter the current target position (absolute position) can be read
when the virtual master axis is positioned.
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 command
value", if the new target position relates to the previous target position
( "P-0-0760, Virtual master axis, positioning control word", bit 4 = 0 (pre
vious target position)),

the sum of the actual position value "P-0-0758, Virtual master axis, actual
position value" and "P-0-0766, Virtual master axis, positioning command
value" at the time toggling takes place, if the target position relates to the
current actual position value (P-0-0760, bit 4 = 1 (current actual position
value)).

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.5.42

0,0000

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0,0000
0,0000
0,0000

P-0-0768, Virtual master axis, positioning status


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter is generated when the virtual master axis is active. The pa
rameter contains the status bits of the virtual positioning generator.
Bit

Significance

target position reached P-0-0767 = P-0-0758

acknowledgment bit P-0-0760; virt. master axis, positioning


control word bit 0

Comment

552/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
2

IN_TARGET POSITION = (|P-0-0767 - P-0-0758 | <


P-0-0911) && | P-0-0759 | < P-0-0912

interpolator stopped

constant interpolation velocity

drive accelerates

drive decelerates

synchronization of secondary master completed

12

jog mode active (see P-0-0760, bits 1 and 2)

Fig.4-153:
Use
P-0-0768 - Attributes

P-0-0768, Virtual master axis, positioning status

With the bit having been set, the secondary master (P-0-0761) moves relatively
or absolutely synchronously to the primary master.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.43

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0769, Virtual master axis, command value mode


Allocation

Function

Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

In the case of virtual modulo scaling, this parameter defines the allowed direc
tion of rotation of the "virtual master axis" of the master axis generator for
positioning processes.
Bit

Designation/function

1/0

00: positive direction

Comment

Only positive direction of rotation is allowed for position


ing (relative/absolute).
01: negative direction
Only negative direction of rotation is allowed for position
ing (relative/absolute).
10: shortest distance
Both positive and negative directions of rotation are al
lowed for positioning (relative/absolute).

Fig.4-154:
P-0-0769 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-0769, Virtual master axis, command value mode


Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 553/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.5.44

min./max.
0/2
0/2
0/2

P-0-0770, Virtual master axis, positioning velocity


Allocation

Function
P-0-0770 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPD
MPD

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647

Default value
10,0000
10,0000
10,0000

P-0-0771, Virtual master axis, positioning acceleration


Allocation

Function
P-0-0771 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter presets the acceleration command value of the virtual master
axis.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.5.46

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

This parameter presets the velocity command value (positioning velocity com
mand value) of the virtual master axis.

Input
MPB:
MPD:
MPH:

4.5.45

Default value
0
0
0

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
2
set switchable: --

min./max.
0,00 / 21474836,47
0,00 / 21474836,47
0,00 / 21474836,47

Default value
100,00
100,00
100,00

P-0-0772, Virtual master axis, positioning deceleration


Allocation

Function
P-0-0772 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter presets the deceleration command value of the virtual master
axis.
Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte
DEC_MV

554/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: AT + MDT
Input
MPB:
MPD:
MPH:

4.5.47

Decim. pl.:
2
set switchable: --

min./max.
0,00 / 21474836,47
0,00 / 21474836,47
0,00 / 21474836,47

Default value
100,00
100,00
100,00

P-0-0774, Virtual master axis, positioning window shortest distance


Allocation

Function

P-0-0774 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter allows determining a symmetrical position range relative to the


current position (target position window). Within the symmetrical position range
it is always possible to move to a target position over the shortest distance even
if only one direction of movement has been determined for positioning in
"P-0-0769, Virtual master axis, command value mode".
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.5.48

Extr. val. ch.: +


Comb. check: --

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647

Default value
0,0000
0,0000
0,0000

P-0-0775, Resulting master axis position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The resulting master axis position is generated from the values of the param
eters "P00053, Master axis position" and "P00054, Additive master axis
position".
The sum of the position from the two parameters is fine interpolated so that in
the drive the resulting master axis position is available again every 500 s for
basic performance and every 250 s for advanced performance.
See also Functional Description "Synchronization Modes"
See also Functional Description "Velocity Synchronization with Real/Virtual
Master Axis"

P-0-0775 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
-Incr
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 555/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.5.49

--- / ----- / ---

-----

P-0-0776, Effective master axis position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The effective master axis position is the resulting master axis position P00775
after the master drive gear P00157/P00156 and the gear ratio fine adjust
P00083.
See also Functional Description "Synchronization Modes"
See also Functional Description "Velocity Synchronization with Real/Virtual
Master Axis"

P-0-0776 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Incr
AT

Input
MPB:
MPD:
MPH:

4.5.50

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0777, Effective master axis velocity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The effective master axis velocity is the master axis speed P00764 after the
master drive gear P00157/P00156 and the gear ratio fine adjust P00083.
See also Functional Description "Synchronization Modes"
See also Functional Description "Velocity Synchronization with Real/Virtual
Master Axis"
See also Functional Description "Phase Synchronization with Real/Virtual Mas
ter Axis"

P-0-0777 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Rpm
AT

Input
MPB:
MPD:
MPH:

4.5.51

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0778, Synchronous position command value


Allocation

Contained in 02VRS:
Contained in 03VRS:

MPB
MPB

MPH
MPH

MPD
MPD

556/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD

The synchronous position command value is the synchronous position com


mand value of the slave axis derived from the master axis position (P-0-0053)
and additive master axis positions. It is determined depending on the synchro
nous operating mode with outer position control loop that has been set.
See also Functional Description "Synchronization Modes"
See also Functional Description "Phase Synchronization with Real/Virtual Mas
ter Axis"

Use

Phase synchronization:
Generating the synchronous position command value with rotary modulo scal
ing:

+/- :
MAP:
FA :

Fig.4-155:

P-0-0108, Master drive polarity (P-0-0108=1 > -)


sum of master axis positions P-0-0053 + P-0-0054 + P-0-0692
fine adjust (1 + P-0-0083) * (1 + P-0-0694)

P-0-0778, Synchronous position command value

Generating the synchronous position command value with rotary, absolute


scaling:

+/- :
MAP:
FA:

Fig.4-156:

P-0-0108, Master drive polarity (P-0-0108=1 > -)


sum of master axis positions P-0-0053 + P-0-0054 + P-0-0692
fine adjust (1 + P-0-0083) * (1 + P-0-0694)

P-0-0778, Synchronous position command value

Generating the synchronous position command value with linear scaling:

+/- :
MAP:
FA :

Fig.4-157:

P-0-0108, Master drive polarity (P-0-0108=1 > -)


sum of master axis positions P-0-0053 + P-0-0054 + P-0-0692
fine adjust (1 + P-0-0083) * (1 + P-0-0694)

P-0-0778, Synchronous position command value

Cam shaft:
Cyclic generation of the position command value for the slave drive with rotary
absolute scaling:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 557/1033


and Controls

Product-Specific Parameters

+/-:
L :

P-0-0108, Master drive polarity (P-0-0108=1 > -)


master axis position (P-0-0053) + additive master axis position
(P-0-0054) + add. master axis position, process loop (P-0-0692)
angle offset begin of profile (P-0-0061)
component of dynamic angle offset (P-0-0085)
cam shaft distance (P-0-0093 or P-0-0073)
cam shaft profiles (P-0-0072 or P-0-0092)
master drive gear output revolutions (P-0-0157)
master drive gear input revolutions (P-0-0156)
fine adjust (1 + P-0-0083) * (1 + P-0-0694)
gear reduction (P-0-0755)

V :
c:
h:
tab():
Ga :
Ge
FA:
U:

Fig.4-158:

P-0-0778, Synchronous position command value

Cyclic generation of the position command value for the slave drive with rotary
modulo scaling:

+/-:
L:

P-0-0108, Master drive polarity (P-0-0108=1 > -)


master axis position (P-0-0053) + additive master axis position
(P-0-0054) + add. master axis position, process loop (P-0-0692)
angle offset begin of profile (P-0-0061)
component of dynamic angle offset (P-0-0085)
cam shaft distance (P-0-0093 or P-0-0073)
cam shaft profiles (P-0-0072 or P-0-0092)
master drive gear output revolutions (P-0-0157)
master drive gear input revolutions (P-0-0156)
fine adjust (1 + P-0-0083) * (1 + P-0-0694)
gear reduction (P-0-0755)

V:
c:
h:
tab():
Ga:
Ge:
FA:
U:

Fig.4-159:

P-0-0778, Synchronous position command value

Cyclic generation of the position command value for the slave drive with linear
scaling:

+/-:
L:

P-0-0108, Master drive polarity (P-0-0108=1 > -)


master axis position (P-0-0053) + additive master axis position
(P-0-0054) + add. master axis position, process loop (P-0-0692)
angle offset begin of profile (P-0-0061)
component of dynamic angle offset (P-0-0085)
cam shaft distance (P-0-0093 or P-0-0073)
cam shaft profiles (P-0-0072 or P-0-0092)
master drive gear output revolutions (P-0-0157)
master drive gear input revolutions (P-0-0156)
fine adjust (1 + P-0-0083) * (1 + P-0-0694)
gear reduction (P-0-0755)

V:
c:
h:
tab():
Ga:
Ge:
FA:
U:

Fig.4-160:

P-0-0778 - Attributes

P-0-0778, Synchronous position command value

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

558/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.5.52

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0779, Synchronous velocity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The synchronous velocity is the differentiated synchronous position command


value P00778 per controller cycle.
See also Functional Description "Synchronization Modes"
See also Functional Description "Phase Synchronization with Real/Virtual Mas
ter Axis"

P-0-0779 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.5.53

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0780, Cam shaft profile 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Parameter P00780 contains a profile with data points tab () for the profile of
cam shaft 3.
See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"

Use

Rexroth IndraDrive supports up to 8 cam shaft profiles which can be divided


into the following groups:

4 cam shaft profiles with 3 to 1024 data points (P-0-0072, P-0-0092,


P-0-0780, P-0-0781)

4 cam shaft profiles with 3 to 128 data points (P-0-0782, P-0-0783,


P-0-0784, P-0-0785)
The individual data points of the profile are interconnected by
means of cubic spline interpolation.

See also Parameter Description "P-0-0072, Cam shaft profile 1"


P-0-0780 - Attributes

Function: Par
Editability:
Memory: FIX_IDN_SP Validity ch.:

PM+OM
--

Data length:
Format:

4Byte var.
DEC_MV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 559/1033


and Controls

Product-Specific Parameters
Unit:
%
Cycl. tra.: --

Extr. val. ch.: +


Comb. check: --

Input

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

MPB:
MPD:
MPH:

4.5.54

Decim. pl.:
6
set switchable: -Default value
-------

P-0-0781, Cam shaft profile 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

Parameter P00781 contains a profile with data points tab () for the profile of
cam shaft 4.
See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"

Use

Rexroth IndraDrive supports up to 8 cam shaft profiles which can be divided


into the following groups:

4 cam shaft profiles with 3 to 1024 data points (P-0-0072, P-0-0092,


P-0-0780, P-0-0781)

4 cam shaft profiles with 3 to 128 data points (P-0-0782, P-0-0783,


P-0-0784, P-0-0785)
The individual data points of the profile are interconnected by
means of cubic spline interpolation.

See also Parameter Description "P-0-0072, Cam shaft profile 1"


P-0-0781 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
FIX_IDN_SP Validity ch.:
%
Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.5.55

PM+OM
-+
--

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
6
set switchable: --

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

Default value
-------

P-0-0782, Cam shaft profile 5


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

560/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

Parameter P00782 contains a profile with data points tab () for the profile of
cam shaft 5.
See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"

Use

Rexroth IndraDrive supports up to 8 cam shaft profiles which can be divided


into the following groups:

4 cam shaft profiles with 3 to 1024 data points (P-0-0072, P-0-0092,


P-0-0780, P-0-0781)

4 cam shaft profiles with 3 to 128 data points (P-0-0782, P-0-0783,


P-0-0784, P-0-0785)
The individual data points of the profile are interconnected by
means of cubic spline interpolation.

See also Parameter Description "P-0-0072, Cam shaft profile 1"


P-0-0782 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
FIX_IDN_SP Validity ch.:
%
Extr. val. ch.:
-Comb. check:

Input

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
6
set switchable: --

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

MPB:
MPD:
MPH:

4.5.56

PM+OM
-+
--

Default value
-------

P-0-0783, Cam shaft profile 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Parameter P00783 contains a profile with data points tab () for the profile of
cam shaft 6.
See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"

Use

Rexroth IndraDrive supports up to 8 cam shaft profiles which can be divided


into the following groups:

4 cam shaft profiles with 3 to 1024 data points (P-0-0072, P-0-0092,


P-0-0780, P-0-0781)

4 cam shaft profiles with 3 to 128 data points (P-0-0782, P-0-0783,


P-0-0784, P-0-0785)
The individual data points of the profile are interconnected by
means of cubic spline interpolation.

See also Parameter Description "P-0-0072, Cam shaft profile 1"


P-0-0783 - Attributes

Function: Par
Editability:
Memory: FIX_IDN_SP Validity ch.:

PM+OM
--

Data length:
Format:

4Byte var.
DEC_MV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 561/1033


and Controls

Product-Specific Parameters
Unit:
%
Cycl. tra.: --

Extr. val. ch.: +


Comb. check: --

Input

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

MPB:
MPD:
MPH:

4.5.57

Decim. pl.:
6
set switchable: -Default value
-------

P-0-0784, Cam shaft profile 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Parameter P00784 contains a profile with data points tab () for the profile of
cam shaft 7.
See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"

Use

Rexroth IndraDrive supports up to 8 cam shaft profiles which can be divided


into the following groups:

4 cam shaft profiles with 3 to 1024 data points (P-0-0072, P-0-0092,


P-0-0780, P-0-0781)

4 cam shaft profiles with 3 to 128 data points (P-0-0782, P-0-0783,


P-0-0784, P-0-0785)
The individual data points of the profile are interconnected by
means of cubic spline interpolation.

See also Parameter Description "P-0-0072, Cam shaft profile 1"


P-0-0784 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
FIX_IDN_SP Validity ch.:
%
Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.5.58

PM+OM
-+
--

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
6
set switchable: --

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

Default value
-------

P-0-0785, Cam shaft profile 8


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

562/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

Parameter P00785 contains a profile with data points tab () for the profile of
cam shaft 8.
See also Functional Description "Electronic Cam Shaft with Real/Virtual Master
Axis"

Use

Rexroth IndraDrive supports up to 8 cam shaft profiles which can be divided


into the following groups:

4 cam shaft profiles with 3 to 1024 data points (P-0-0072, P-0-0092,


P-0-0780, P-0-0781)

4 cam shaft profiles with 3 to 128 data points (P-0-0782, P-0-0783,


P-0-0784, P-0-0785)
The individual data points of the profile are interconnected by
means of cubic spline interpolation.

See also Parameter Description "P-0-0072, Cam shaft profile 1"


P-0-0785 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
FIX_IDN_SP Validity ch.:
%
Extr. val. ch.:
-Comb. check:

Input

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
6
set switchable: --

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

MPB:
MPD:
MPH:

4.5.59

PM+OM
-+
--

Default value
-------

P-0-0786, Modulo value actual value cycle


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Parameter P00786 is used to display the modulo value for the actual value
cycle. This parameter contains the value range for the content of "P00753,
Position actual value in actual value cycle".
See also Functional Description "Synchronous Operating Modes"

P-0-0786 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.5.60

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0,0000
0,0000
0,0000

P-0-0806, Current mains voltage crest value


Allocation

Contained in 02VRS:
Contained in 03VRS:

MPB
MPB

MPH
MPH

MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 563/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function
P-0-0806 - Attributes

MPB
MPH
MPB
MPH
-"open loop", "closed loop"

This parameter for HCS03 devices (converters) displays the current crest value
of the mains voltage.
Function:
Memory:
Unit:
Cycl. tra.:

Par
-V
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.61

MPD
MPD

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0809, Properties of charging circuit


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
-
-

This list parameter displays the data for the soft start charging circuit. The pa
rameter is stored in non-volatile form in the power section.
See also Functional Description "Power Supply "

Structure

The list parameter consists of 5 elements which contain decimal numeric val
ues. The significance of elements 1...4 depends on the selection made in
element 0.
Ele
ment

Name

Unit

Deci
Length in
mal pla bytes
ces

type of charging circuit

without

0.00 = no charging circuit


1.00 = resistance charge
2.00 = constant current source
3.00 = Thyristor charge (e.g. HCS03.1..W0210-..)
1

feature 1:
no charging circuit not relevant

without

resistance charge max. allowed capaci mF


tance
constant current source max. allowed ca mF
pacitance

Thyristor charge blanking time t1 from


mains voltage ok until end of charging

sec

564/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Ele
ment

Name

feature 2:

Unit

Deci
Length in
mal pla bytes
ces

no charging circuit not relevant

without

resistance charge resistance value

Ohm

constant current source constant charg Ampere


ing current
Thyristor charge monitoring time t2; Uzk sec
is monitored for Uzk>0.84*Unetz;
Uzk>Uzkmin, (see P-0-0114)
[Uzk=UDCbus; Unetz=Umains]
monitoring time t2 runs after blanking time
t1
3

feature 3:
no charging circuit not relevant
resistance charge continuous power

without
Watt

constant current source continuous cur A


rent
Thyristor charge not relevant
4

feature 4:
no charging circuit not relevant
resistance chargemax. allowed energy
constant current source not relevant
Thyristor charge not relevant

Fig.4-161:
P-0-0809 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

without
kWs
without
without

Properties of charging circuit


Par
LT_SP
---

Input
MPB:
MPD:
MPH:

4.5.62

without

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
-------

P-0-0810, Minimum mains crest value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For HCS converters, in this parameter it is possible to set an individual minimum


value for the crest value of the mains voltage. The value is only effective, if it is
greater than the minimum value of the mains connection voltage range!
For HCS02

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 565/1033


and Controls

Product-Specific Parameters
If the mains crest value, when the converter is switched on, is lower than the
value in P00810, the diagnostic message "E2814 Undervoltage in mains" is
generated.
For HCS03
If the mains crest value, when the converter is switched on or is in operation,
is lower than the value in P00810, the diagnostic message "E2814 Under
voltage in mains" is generated.
The mains voltage crest value detected when switching on, for HCS
devices is displayed in "P00815, Nominal mains voltage crest val
ue"!
P-0-0810 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
V
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.63

PM
PM->OM
---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 780
0 / 780
0 / 780

Default value
-------

P-0-0815, Nominal mains voltage crest value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter for HCS converters displays the mains voltage crest value that
was measured when the mains voltage was switched in the first time.
From this value the standard value for the undervoltage threshold (P00114),
the standard minimum value of the mains voltage crest value (P00810) and
the standard switch-on threshold of a braking resistor (P00858) are derived.

P-0-0815 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-V
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.64

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0816, Amplifier temperature 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Indicates the current temperature of a second temperature sensor on the power


section. This sensor is available for HCS03.1 devices.

566/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The parameter P00816 is always available, even if there is no second tem
perature sensor available. In this case the value "0" is displayed.
The corresponding warning and switch-off thresholds are "E2040 Amplifier
overtemperature 2 prewarning" and "F2040 Amplifier overtemperature 2 shut
down".
P-0-0816 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-S-0-0208
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.65

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0819, Energy counter


Allocation

Function
P-0-0819 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter displays the energy which was supplied to the drive. The energy
is determined by means of the operating time as the sum of the effective power.
Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
RETAIN_KUNDEValidity ch.:
kWh
Extr. val. ch.:
AT
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.66

nein
----

PM+OM
----

min./max.
-20000000,00 /
20000000,00
-20000000,00 /
20000000,00
-20000000,00 /
20000000,00

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
2
set switchable: -Default value
0,00
0,00
0,00

P-0-0833, Braking resistor threshold


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The braking resistor is only switched on via the firmware if this is required for
braking. This means that it is switched on whenever the DC bus voltage is
higher than the voltage threshold "P00833, Braking resistor threshold".
Depending on the load (P-0-0844), the threshold is dynamically adjusted. This
behavior allows loading braking resistors simultaneously operated at the DC
bus.
See also Functional Description "Information on the Braking Resistor and the
DC Bus Resistor Unit HLB01"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 567/1033


and Controls

Product-Specific Parameters
Use

For HCS02 and HCS03 converters with and without external braking resistor
HLR01 in the configuration parallel operation and group supply with DC bus
connection. At the involved components, set identical reference values for the
ON-OFF switching voltage of the braking resistor (see P-0-0860).
When using HLB01 resistor units, you have to operate them in the mode "in
dependent of mains voltage" and on all other involved components set the
reference value in P-0-0860 to "00".

P-0-0833 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-V
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.67

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0844, Braking resistor load


Allocation

Function
P-0-0844 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter indicates the thermal energy in percent, in relation to its maxi
mum allowed energy content, currently stored in the braking resistor.
Function:
Memory:
Unit:
Cycl. tra.:

Par
-%
AT

Input
MPB:
MPD:
MPH:

4.5.68

nein
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0858, Data of external braking resistor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For HCS02/HCS03 converters the type data of an externally connected braking


resistor are entered in this list parameter.
The HLR braking resistors which can be used are assigned to the correspond
ing 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 documentation "Rexroth IndraDrive, Additional
Components; Project Planning Manual".
See also Functional Description "Power Supply"
The list parameter has the following structure:

568/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Element
No.

Name

nominal braking resist ohm


ance

braking resistor contin W


uous power

3*

max. regenerative
KWs
power to be absorbed

braking resistor
switch-on threshold

not supported

as
MPX0422

Fig.4-162:
Use

Unit

Decimal places Length in bytes

of for HCS02, higher regenerative power absorption is possible (see Proj


ect Planning Manual "Supply Units and Power Sections")

Data of the external braking resistor

Observe the following aspects for parameterizing P-0-0858:

If the braking resistor control has been deactivated via "P-0-0860, Control
word of power section", bit 8, the braking resistor data have to be correct.

The reference voltage for switching on the braking resistor that can be set
in element no. 4 can be activated via the respective bits of "P00860,
Converter configuration" (or "P00860, Control word of power section").

The value in list element 4 must be at least 130% of "P00815, Nominal


mains voltage crest value" and may be 820V at maximum.
If the value entered is too low, the error "F2825 Switch-on threshold
braking resistor too low" is signaled upon its activation.

P-0-0858 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.5.69

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0859, Data of internal braking resistor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
-
-

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.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 569/1033


and Controls

Product-Specific Parameters
Structure

Element No.

Name

Unit

Decimal places Length in bytes

nominal braking re
sistance

Ohm

braking resistor con W


tinuous power

max. regenerative
power to be absor
bed

Fig.4-163:
P-0-0859 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Data of the internal braking resistor


Par
LT_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.70

kWs

PM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0860, Converter configuration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter, basic settings are made for the power section of (preferably)
converters. Parameter P00860 is specifically used for configuring the power
section of converters (HCS02.1, HCS03.1,...).
See also Functional Description "Power Supply"

Structure

The individual bits of the parameter have the following significance:


Bit

Designation/function

source of power supply

Comment

0: mains voltage (default) converter mode (HCS)


1: DC bus inverter mode (HCS, HMS and HMD)
1

HMS/HMD as module bus master


0: deactivated (standard)
1: activated

active braking resistor (internal / external)


0: internal braking resistor activated for HCS02 (def.), device
without (or with deactivated) braking transistor for
HCS03/04
1: external braking resistor active (HCS02/03/04) and inter
nal braking resistor deactivated, when an external braking
resistor has been connected (HCS02)

as of MPH04,
for inverter at
third-party sup
ply unit

570/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

braking resistor switch-on threshold adjusted depending on


the load

Comment

0: active, threshold is increased, proportionally to the ther


mal load, up to 30V above the reference value
1: inactive
11/10

selection of braking resistor switch-on threshold (reference


values)
00: ON = DC820V,
OFF = DC800V (standard)
01: ON = list element 4 of P00858,
data of external braking resistor (max. DC 820V)
OFF = DC20V below switch-on voltage
10: ON = P-0-0815, Nominal mains voltage crest value
nominal x 1.3 (for HCS03, HCS04: 1.4)
OFF = P-0-0815, Nominal mains voltage crest value
nominal x 1.3 (for HCS03, HCS04: 1.4) -20V

12

dyn. limitation of regenerative power, depending on DC bus


voltage (HCS03/04)
0: active (default), when DC bus voltage exceeds DC850V
(when using HLR or similar) or DC800V (for devices without
or with deactivated braking transistor)
1: deactivated, set bit for combination of a device without (or
with deactivated) braking transistor with HLB (or for DC bus
connection to a device which uses a braking resistor)

15

setting for operation as controller or converter


0: operation as controller
1: operation as SERCOS analog converter

Fig.4-164:
Use

Relevant bits of P-0-0860

Observe the following aspects for parameter setting:

Bit 0: power supply Bit 0 determines whether the power supply of the con
verter takes place via mains connection (converter operation, default) or
via DC bus (inverter operation).
With regard to module bus, the converter used in inverter operation
behaves like an inverter!

Bit 1: activation of module bus master function If the power section is not
operated at an HMV or HCS, it can assume the function of the module bus
master by setting this bit and assume the signal exchange for power con
trol with another IndraDrive supply unit.

Bit 12/8: braking resistor and regenerative power


For HCS03 devices, bit 8 is set automatically according to the design!

with design -NNB*: bit 8 is "1"

with design -NNN*: bit 8 is "0"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 571/1033


and Controls

Product-Specific Parameters
Table for setting bits 8 and 12 depending on HCS device options and braking
resistor
Device

Relev. type code Ext. Rb at device Ext. Rb at DC


sections - 21 22 (X9)
bus (L+, L-)
23 24 -

HCS02.1 W0012

- NNNN -

not possible!

HCS02.1 W0028

- NNNN -

not possible!

HCS02.1 - NNNN W0054 -W0070

HCS03 HCS04

Fig.4-165:

no
HLR or similar

not possible!

- NNNV -

no

- NNBV -

HLR or similar

P-0-0860

Bit 8: 0 (automat
ic), bit 12: 0 (de
fault)
Bit 8: 0 (automat
ic), bit 12: 0 (de
HLB *) possible, fault)
but irrelevant as Bit 8: 0 (automat
regards
ic), bit 12: 0 (de
P-0-0860
fault)
Bit 8: 1 (user), bit
12: 0 (default)
Bit 8: 0 (automat
no
ic), bit 12: 0 (de
fault)
Bit 8: 0 (automat
HLB *)
ic), bit 12: 1
(user)
Bit 8: 0 (user), bit
HLB *)
12: 1 (user)
Bit 8: 0 (user), bit
no
12: 0 (default)
HLB *) possible,
but irrelevant as Bit 8: 1 (default),
regards
bit 12: 0 (default)
P-0-0860
not possible!

Table for setting P-0-0860 depending on HCS device options and brak
ing resistor

HCS03/04 devices have no internal braking resistor!


The device option "braking transistor" allows using a braking resis
tor which can be externally connected.
When you use the device option without braking transistor, drives
can only be decelerated by mechanical braking forces or by DC bus
connection to HLB or other devices which use a braking resistor!

Bit 9: braking resistor switch-on threshold adjusted depending on the


load When several HCS devices are connected via the DC bus, it is nec
essary to balance the load of the braking resistors. This is achieved by
increasing the switch-on and switch-off thresholds in directly proportional
form to the thermal load of the braking resistor controlled by the device
(default). The maximum increase is 30 volt above the reference value.
This ensures equal thermal load for all braking resistors. The maximum
regenerative power of the axis group is possible in this way!
The current braking resistor switch-on threshold is displayed in pa
rameter P-0-0844.

Bit 11/10: selection of braking resistor switch-on threshold (reference val


ues) The switch-on threshold for the braking resistor is dynamic by default,

572/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
i.e. it is increased depending on the load. The values to be selected are
reference values and refer to 0 percent thermal load of the braking resistor.

Bit 12: dyn. limitation of regenerative power, depending on DC bus voltage


(HCS03/04)
HCS03/04 devices have no internal braking resistor. When you use the
device option without braking transistor or in the case of deactivated brak
ing transistor, the threshold of the regenerative power limitation is already
required at DC800V and has been set as default value. This avoids inad
missible voltage overshoot (>DC900V) when switching off the energy
regeneration to the DC bus.
If for a device without braking transistor (or with deactivated braking tran
sistor), there is a DC bus connection to HLB or other devices which use a
braking resistor, the regenerative power limitation starting at DC800V
does not make sense and therefore has to be deactivated! For HLB, the
braking resistor switch-on threshold has been fixed to DC820V on the
hardware side. As a standard, other braking resistors at the common DC
bus have a switch-on threshold of DC820V, too.

Bit 15: SERCOS analog converter mode is only possible with CDB01.1-...
control sections! Operate both axes in the same way, either as controller
or as SERCOS analog converter. After having changed the setting, switch
control section off and on again!
The setting will only take effect after the control section has been
switched on again!

P-0-0860 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.5.71

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0861, Power supply status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

This parameter is used for status display of the power supply.


See also Functional Description "Power Supply"
The individual bits have the following significance:

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 573/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

drive ready for power output?


0: no
1: yes

soft start process completed (only converters)


0: no
1: yes

mains voltage available (only converters)


0: no
1: yes

power supply unit ready for power output


0: no, DC bus "not ok"!
1: yes, DC bus "ok"!

error during soft start (only converters)


0: no
1: yes

soft start relay supplied with current (only converters)


0: no
1: yes

error converter supply unit F28xx (only converters)


0: no
1: yes

braking resistor overload warning active?


0: no
1: yes

power supply unit ready for operation (only converters, for


control of "Bb" contact!)
0: no
1: yes

12

E2050 Device overtemp. Prewarning active?


0: no
1: yes

13

F2018 Device overtemperature shutdown orF2022 Device


temperature monitor defective active?
0: no
1: yes

Comment

574/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

Comment

14

E2040 Device overtemperature 2 prewarning active?


0: no
1: yes

15

F2040 Device overtemperature 2 shutdown orF2022 Device


temperature monitor defective (for temperature measure
ment 2) active?
0: no
1: yes

Fig.4-166:
P-0-0861 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of P-0-0861


Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

nein
----

min./max.
--- / ----- / ----- / ---

4.6

P-0-0900 - P-0-0999 Encoder Emulation

4.6.1

P-0-0900, Encoder emulation signal selection list


Allocation

Function

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

Default value
-------

MPD
MPD
MPD
MPD

The table below contains the possible signals for emulation and shows their
specific features with regard to emulation:
Incremental encoder emulation

Emulation signal

Scaling (P-0-0903, En
coder emulation resolu
tion)

Scaling (P-0-0904,
Encoder emulation
zero pulse offset,
P-0-0905, Encoder
emul. zero pulse dis
tance)

S-0-0051, Position
feedback 1 value

S-0-0076 [mm] or [lines/ lines


revolution]

indirect by control via


S-0-0148, P-0-0012

internal with extrapola


tion when switching

S-0-0053, Position
feedback 2 value

S-0-0076 [mm] or [lines/ lines


revolution]

indirect by control via


S00148, P-0-0012

internal with extrapola


tion when switching

S-0-0386, Active posi S-0-0076 [mm] or [lines/ lines


tion feedback value
revolution]

indirect by control via


S-0-0148, P-0-0012

internal with extrapola


tion when switching

P-0-0434, Position
command value con
troller

P-0-0902 via control unit external by stopping


emulation via control
unit

S-0-0076 [mm] or [lines/ lines


revolution]

Sources for signal jumps Handling in the case of


signal jumps

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 575/1033


and Controls

Product-Specific Parameters
Emulation signal

Scaling (P-0-0903, En
coder emulation resolu
tion)

P-0-0052, Actual posi [lines/revolution]


tion value of measur
ing encoder

Scaling (P-0-0904,
Encoder emulation
zero pulse offset,
P-0-0905, Encoder
emul. zero pulse dis
tance)

Sources for signal jumps Handling in the case of


signal jumps

lines

indirect by control via


P-0-0012, internal at
marker detection

internal with extrapola


tion when switching

P-0-0087 via control unit external by stopping


emulation via control
unit
P-0-0775, Resulting
master axis position

[lines/revolution]

lines

P-0-0053 via control unit external by stopping


emulation via control
unit

P-0-0776, Effective
master axis position

[lines/revolution]

lines

P-0-0053 via control unit, external by stopping


switching "AB -> AF"
emulation via control
unit

P-0-3280, Actual posi S-0-0076 [mm] or [lines/ lines


tion value, channel 2 revolution]
motor encoder signal

--

external by stopping
emulation via control
unit

P-0-4014 [mm] or [lines/ cannot be parameter internal at marker detec internal with extrapola
revolution]
ized
tion
tion when switching

Fig.4-167:

Emulator signal "features"

See also Functional Description "Encoder Emulation".


Absolute encoder emulation (SSI encoder emulation)
Emulation signal

Scaling (P-0-0903, Sources for signal


Handling in the case
Encoder emulation jumps
of signal jumps
resolution)
S-0-0051, Position bit per revolution unit indirect by control via internal with extrapo
feedback 1 value
[bit]
S-0-0148, P-0-0012 lation when switching
S-0-0053, Position bit per revolution unit indirect by control via internal with extrapo
feedback 2 value
[bit]
S-0-0148, P-0-0012 lation when switching
S-0-0386, Active po bit per revolution unit indirect by control via internal with extrapo
sition feedback value [bit]
S-0-0148, P-0-0012 lation when switching
P-0-0434, Position bit per revolution unit P-0-0902 via control external by stopping
command value con [bit]
unit
emulation via control
troller
unit
P-0-0052, Actual po bit per revolution unit indirect by control via internal with extrapo
sition value of meas [bit]
P-0-0012, internal at lation when switching
uring encoder
marker detection
P-0-0087 via control external by stopping
unit
emulation via control
unit
P-0-0775, Resulting bit per revolution unit P-0-0053 via control external by stopping
master axis position [bit]
unit
emulation via control
unit

576/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0776, Effective bit per revolution unit P-0-0053 via control external by stopping
master axis position [bit]
unit, switching "AB -> emulation via control
AF"
unit
P-0-3280, Actual po bit per revolution unit -external by stopping
sition value, channel [bit]
emulation via control
2
unit

Fig.4-168:

Emulator signal "features"

For double-axis devices in connection with the analog interface card


HCC11 (CDB01.1C-AN), the signal selection list is limited to the
signals S-0-0051 and S-0-0053.
P-0-0900 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.6.2

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0901, Encoder emulation signal selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used for configuring (controlling) the incremental and SSI
encoder emulation. The signal to be emulated can thereby be determined.
See also Functional Description "Encoder Emulation".

Use

Supported emulation signals, signal selection list


The signals to be emulated and supported by the drive can be taken from pa
rameter "P00900, Encoder emulation signal selection list".
Configuration
The configuration is made by entering the desired IDN from the list parameter
P00900 in parameter "P00901, Encoder emulation signal selection".
Via bit 12 of P00902 and with activated incremental encoder em
ulation, pure emulation of the motor encoder signal, if necessary,
can be activated independent of the setting in P00901!
See also Parameter Description "P-0-0900, Encoder emulation signal selection
list"
See also Parameter Description "P-0-0902, Encoder emulation control param
eter"

P-0-0901 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 577/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.6.3

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0902, Encoder emulation control parameter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used for configuring (controlling) the encoder emulation.


Except for bit 7, changes in parameter P00902 can only be made
in PM (phase 2 up to MPX03VRS)!
See also Functional Description "Encoder Emulation"

Structure

The individual bits of the parameter have the following significance:


Bit

Designation/function

1-0:

activation of emulation (SSI or incremental)

Comment

00: encoder emulation deactivated


01: incremental encoder emulation
10: absolute encoder emulation
4:

dead time compensation (only for IGS)


0: switched off
1: active

7:

temporary stop (only for IGS)


0: emulation active
1: emulation stopped

9-8:

oversampling/clock increase (only for IGS)


00: 8-fold
01: 16-fold
10: 32-fold

10

SSI synchronization (only for SSI)

as of MP*04VRS

0: synchronization switched off


1: synchronization activated
12:

kind of incremental encoder emulation


0: signal emulation
1: motor encoder emulation

Fig.4-169:
Use

Structure of P-0-0902, Encoder emulation control parameter

Observe the following aspects for parameter setting:

Bit 7: temporary stop Bit 7 is used to temporarily stop the emulator output.
When the control unit sets this bit, there aren't any more increments out
put. This is required when the control unit abruptly changes the signal to

578/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
be emulated, but this jump is not to be emulated because it can cause the
error message F2053!

Bit 9-8 oversampling/clock increase Bits 8..9 are used to select the tem
porary clock increase of the emulator signals, in order to increase the
resolution of the emulation signals and to reduce signal jitter.
By increasing the clock increase, the maximum output frequency is
reduced (oversampling of 8 1MHz, with 16 500kHz and with 32
250kHz)!

Bit 10: SSI synchronization (only available for MPH!) When synchroniza
tion has been activated, the probe function (MT1) cannot be used any
more!
Synchronization only works correctly when the "sampling rate" of
the external control unit is lower than the internal position loop clock
which depends on the performance of the firmware variant used
(see section "Performance Data" in the Functional Description)!

Bit 12: kind of incremental encoder emulation Bit 12 defines whether it is


the signal defined via P00901 that is emulated or directly the signal of
the motor encoder.
The setting of bit 12 influences the output of the zero pulse. With
bit 12 = 0, the zero pulse is only output when the drive has been
homed (cf. S-0-0403), with bit 12 = 1 the zero pulse is output im
mediately after the drive has been switched on!

P-0-0902 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Input
MPB:
MPD:
MPH:

4.6.4

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0903, Encoder emulation resolution


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

Parameter P00903 is used for parameterizing the resolution

of the emulated incremental encoder (incremental)

or of the emulated SSI encoder (absolute).


The units, limit values and reference values are depending on the
encoder emulation used, the motor type and the scaling parame
terized in S00076!

See also Functional Description "Encoder Emulation"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 579/1033


and Controls

Product-Specific Parameters
Use

Incremental Encoder Emulation


When an incremental encoder is emulated, the number of lines of the incre
mental encoder to be emulated has to be entered in "P00903, Encoder
emulation resolution".
The formats and units in this case are different:

rotary motor: lines / revolution

linear motor: mm or inch

Observe the following for parameterizing P00903:

input range for incremental encoder emulation: 1 262144 (=218)

The maximum signal frequency of the emulated signals mustn't exceed


the maximum allowed output frequency of 1 MHz. The number of incre
ments has to be accordingly adjusted to the velocity.
By increasing the clock increase (cf. P00902) the maximum output
frequency is reduced (oversampling of 8: 1MHz, with 16
500KHz and with 32 250KHz)!

See also Troubleshooting Guide for "F2053 Incr. encoder emulator: pulse fre
quency too high"
Exemplary parameterization for incremental encoder with linear scaling:
How high can be the max. number of lines to be set for linear scaling (with load
reference), a velocity of max. 3000 rpm at a feed constant of 65 mm and a gear
ratio of 5?
Note: fmax = 1MHz, as only 8-fold clock increase!
With vload = 39000 mm/min = 650 mm/s = 0.65 m/s
follows that P-0-0903max = vmax/fmax = 650 mm/s /1MHz = 0.00065mm = 65m
SSI Emulation

When an absolute encoder is emulated in the SSI format, the desired bit width
of the SSI position to be output is entered in this parameter.
The formats and units in this case are different:

rotary motor: bits/revolution

linear motor (linear scaling): bits/mm or bits/inch

Observe the following for parameterizing P00903:

The input range for SSI emulation is: "8 bits ... 24 bits"

For SSI emulation there are always 24 bits transmitted, the resolution of
a motor revolution and therefore the travel range that can be displayed in
absolute form can be defined by means of input in P00903.

Exemplary parameterization for SSI emulation:


If P00903 = 12 bits/revolution, this means that one motor revolution is resolved
with 12 bits (= 4096 increments) and a maximum of 212 (4096) revolutions can
be displayed in absolute form.
P-0-0903 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
Lines/Rev
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
0 / 16777216
0 / 16777216
0 / 16777216

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
4000
4000
4000

580/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.6.5

P-0-0904, Encoder emulation zero pulse offset


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the case of incremental encoder emulation, this parameter is used to arbi


trarily shift the position of the reference pulse (zero pulse) within the parame
terized zero pulse distance (P00905).
See also Functional Description "Encoder Emulation"

Use

Observe the following for parameterizing P00904:

Input is possible in each phase, also during operation. During an input the
drive, however, should be in standstill.

Input is made in lines of emulator resolution, the following distinction is


made with regard to formats and units:

rotary motor: lines

linear motor (or linear scaling): mm or inch


The position of the reference pulse mustn't be shifted by values
greater than the zero pulse distance set in P00905.

Record of Modifications

P-0-0904 - Attributes

Version
up to MPx04VRS
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Lines
--

Input
MPB:
MPD:
MPH:

4.6.6

Attribute
Editability: PM
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Comment
Data length: 4Byte
Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 16777216
0 / 16777216
0 / 16777216

Default value
0
0
0

P-0-0905, Encoder emulation zero pulse distance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the case of incremental encoder emulation, this parameter, depending on


the travel distance, defines the distance of two successive zero pulses.
The formats, units and maximum values in this case are different:

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 for parameterizing P00905:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 581/1033


and Controls

Product-Specific Parameters

Parameter setting P-0-0905 = P-0-0903 (standard case!): One zero pulse


is generated per revolution (or per mm).

Parameter setting P-0-0905 < P-0-0903 (cyclic zero pulse output): Several
zero pulses are generated per revolution (or per mm). (If a zero pulse is
demanded, for example, each time after 180 degrees, the parameter set
ting has to be P00905 = 0.5 * P00903.)
For cyclical output you have to take into consideration that a max
imum of one zero pulse can be output per output cycle (i.e. position
loop clock).

Parameter setting P-0-0905 = N * P-0-0903:


One zero pulse is generated within N revolutions (or per N mm). This al
lows, for example, generating only one single zero pulse over the entire
travel range at the machine zero point!
Inputting "0" is not allowed!

Input is made in lines of the emulator resolution.


If one zero pulse per revolution is desired, which normally is the case, P00905
= P00903 has to be set, i.e. the same value as in P00903 has to be input in
P00905. It is also possible to output a zero pulse only every x revolutions, in
this case P00905 = x * P00903 is correct. Input is only possible in phases 2
and 3.
Record of Modifications

P-0-0905 - Attributes

Version

Attribute

GEN-02VRS

MPB Min Value: 0

GEN-02VRS

MPH Min Value: 0

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Lines
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.6.7

Comment

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1 / 4294967295
1 / 4294967295
1 / 4294967295

Default value
4000
4000
4000

P-0-0910, SSI control parameter


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Function

This parameter is used for hardware configuration of the SSI encoder input on
the option "MD2".

Structure

The following bits have been defined:

582/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

3-0

baud rate

Comment

0x1 -> 125kHz


0x3 -> 250kHz
0x7 -> 500kHz
0xf ->1000kHz
4

coding
0 -> Gray
1 -> binary

7-5

error bits
000 -> none
001 -> GA13 (PFB)
010 -> GA14 (PosErr)
100 -> GA15 (SenderErr)

12-8

SSI data format (bit 8..12) (=> number of transmitted


bits)
single-turn (13bits = 0x0dxx)
multi-turn (25bits = 0x19xx)
linear encoder according to data format

15

deactivation of 24V monitoring

deactivation makes
sense when there
aren't any I/Os used

0: 24V monitoring activated


1: 24V monitoring deactivated

Fig.4-170:
Use

P-0-0910 - Attributes

P-0-0910, SSI control parameter

The following has to be observed for usage:

The maximum cable length is directly connected with the baud rate!

The encoder manufacturer must disclose the coding and the error bits.

The same applies to the data format; the data formats indicated above,
however, are suited for most of the encoders.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.6.8

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0911, Virtual master axis, positioning window


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 583/1033


and Controls

Product-Specific Parameters
Function

This parameter is used to generate bit 2 of "P00768, Virtual master axis, po


sitioning status".
See also Parameter Description "P-0-0768, Virtual master axis, positioning
status"

P-0-0911 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.6.9

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647

Default value
1,0000
1,0000
1,0000

P-0-0912, Virtual master axis, standstill window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

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 value
of the actual velocity value falls below this threshold. This parameter is required
to generate bit 2 of P00768, Virtual master axis, positioning status.
See also Parameter Description "P-0-0768, Virtual master axis, positioning
status"

P-0-0912 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.6.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647

Default value
10,0000
10,0000
10,0000

P-0-0913, Virtual master axis, positioning jerk


Allocation

Function
P-0-0913 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

The jerk limits the acceleration change per time unit when the virtual master
axis is positioned.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,00 / 21474836,47

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
2
set switchable: -Default value
0,00

584/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.6.11

0,00 / 21474836,47
0,00 / 21474836,47

0,00
0,00

P-0-0914, Virtual master axis, velocity threshold positioning


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

By means of this parameter it is possible to set a threshold value for the actual
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 direc
tion of rotation to be reversed.
By entering the value "0" the velocity threshold is deactivated, i.e.
drive always moves to the target position as determined in
"P-0-0769, Virtual master axis, command value mode"!

P-0-0914 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Input
MPB:
MPD:
MPH:

4.6.12

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647

Default value
10,0000
10,0000
10,0000

P-0-0915, Master axis format converter IDN list signal selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter lists all parameters which can be converted to the master axis
format.

S-0-0000, Dummy parameter

S-0-0051, Position feedback 1 value

S-0-0053, Position feedback 2 value

S-0-0386, Active position feedback value

P-0-0052, Actual position value of measuring encoder

P-0-0434, Position command value controller

P-0-0753, Position actual value in actual value cycle

P-0-0758, Virtual master axis, actual position value

P-0-1771, CCD: AT real-time container 1, slave 1

P-0-1772, CCD: AT real-time container 1, slave 2

P-0-1773, CCD: AT real-time container 1, slave 3

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 585/1033


and Controls

Product-Specific Parameters

P-0-0915 - Attributes

P-0-1774, CCD: AT real-time container 1, slave 4

P-0-1775, CCD: AT real-time container 1, slave 5

P-0-1776, CCD: AT real-time container 1, slave 6

P-0-1777, CCD: AT real-time container 1, slave 7

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.6.13

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-0916, Master axis format converter signal selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

In this parameter, select the parameter the value of which is to be converted to


the master axis format.
The IDNs of the parameters that can be selected are listed in "P00915, Master
axis format converter IDN list signal selection". It is only possible to select these
parameters!
See Parameter Description "P-0-0915, Master axis format converter IDN list
signal selection"

P-0-0916 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.6.14

PM+OM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-0917, Control word of master axis generator


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

The virtual master axis generator is activated or deactivated via this parameter.
Bit

Designation/function

activation of master axis generator


0: master axis generator deactivated
1: master axis generator activated

Comment

586/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-0917 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.6.15

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0/1
0/1
0/1

Default value
0
0
0

P-0-0918, Feed travel internal virtual master axis


Allocation

Function

P-0-0918 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-synchronisation (ELS)

-
-
MPD
MPD

This parameter is required for the virtual master axis of the internal master axis
generator when it has been scaled in absolute form. The distance parameter
ized in this parameter when converted corresponds to 220 increments (one
master axis revolution).
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.6.16

PM+OM
PM->OM
---

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647

Default value
360,0000
360,0000
360,0000

P-0-0919, Synchronization mode, secondary master


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-synchronisation (ELS)

-
-
-
MPD

This parameter determines how the secondary master synchronizes to the pri
mary master.
Bit

Designation/function

Comment

relative synchronization
0

0: absolute synchronization
1: relative synchronization
synchronization range

0: 360 (1 master axis revolution)


1: master axis cycle

Fig.4-171:
Use

Synchronization mode, secondary master

Bit 0: Absolute synchronization (bit 0 = 0)


An absolute position with regard to the primary master is always established.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 587/1033


and Controls

Product-Specific Parameters
Relative synchronization (bit 0 = 1) Only velocity adjustment is carried out.
Bit 1: In the case of absolute synchronization, the synchronization range is de
fined with this bit. The distance to be traveled is limited to this range.
P-0-0919 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.6.17

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0/3
0/3
0/3

Default value
0
0
0

P-0-0920, Synchronization acceleration, secondary master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-synchronisation (ELS)

-
-
-
MPD

This parameter indicates the acceleration or deceleration with which the sec
ondary master accelerates or decelerates when its velocity is adjusted to the
velocity of the primary master. For position adjustment, this parameter is used
to set the acceleration and deceleration of the superimposed motion.
Scaling / unit: 1E-3 rad/s2.

P-0-0920 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
rad/s
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.6.18

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
0,000 / MaxULong
0,000 / MaxULong
0,000 / MaxULong

Default value
100,000
100,000
100,000

P-0-0921, Synchronization velocity, secondary master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-synchronisation (ELS)

-
-
-
MPD

For position adjustment, this parameter is used to set the velocity of the super
imposed motion.
Scaling / unit: 1E-4 rpm.

P-0-0921 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
Rpm
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
0,0000 / MaxULong

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: -Default value
100,0000

588/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.6.19

0,0000 / MaxULong
0,0000 / MaxULong

100,0000
100,0000

P-0-0922, Preferred synchronization direction, secondary master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-synchronisation (ELS)

-
-
-
MPD

In the second step of synchronization (position adjustment), a distance is de


termined that has to be traveled for transition to absolute synchronization.
In the case of modulo axes, the superimposed motion of the secondary master
can take place in positive or negative direction. The preferred synchronization
direction determines in which direction the drive is to move.

Structure

Bit
0
1
2

Fig.4-172:
Use

P-0-0922 - Attributes

Designation/function
shortest distance
positive direction
negative direction

Preferred synchronization direction, secondary master

If the shortest distance to absolute synchronization is smaller than the param


eter "P-0-0923, Synchroniz. window for shortest distance, secondary master",
the shortest distance is traveled and the preset preferred direction is ignored.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.6.20

Comment

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0/2
0/2
0/2

Default value
0
0
0

P-0-0923, Synchroniz. window for shortest distance, secondary master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-synchronisation (ELS)

-
-
-
MPD

For synchronization of the secondary master, a preferred direction (P-0-0922)


must have been parameterized for position adjustment. This window suspends
the preferred direction within a defined window. If the difference between pri
mary master and secondary master is within the window, synchronization takes
place over the shortest distance. With P-0-0923 = 0, the function is deactivated.
Scaling / unit: 1E-4 degrees.

P-0-0923 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
Deg
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
0,0000 / MaxULong

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: -Default value
0,1000

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 589/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.6.21

0,0000 / MaxULong
0,0000 / MaxULong

P-0-0924, Selection primary master


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

Bit

-
-
-
MPD

Designation/function

Comment

P-0-0053, Master axis position

P-0-0052, Actual position value of measuring encoder

Function:
Memory:
Unit:
Cycl. tra.:

P-0-0924, Selection primary master


Par
PARAM_SP
-MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0/1
0/1
0/1

Default value
1
1
1

P-0-0925, Master drive gear input revolutions, secondary master


Allocation

Function
P-0-0925 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-synchronisation (ELS)

-
-
-
MPD

Together with P-0-0926, this parameter determines the master drive gear which
is used for phase-synchronous operation of the virtual axis.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Input
MPB:
MPD:
MPH:

4.6.23

-
-
-
-
-
-
MPB
MPH
-synchronisation (ELS)

With this parameter, select the primary master for the secondary master mode.

Fig.4-173:
P-0-0924 - Attributes

4.6.22

0,1000
0,1000

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1 / 65535
1 / 65535
1 / 65535

Default value
1
1
1

P-0-0926, Master drive gear output revolutions, secondary master


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-synchronisation (ELS)

-
-
-
MPD

590/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function
P-0-0926 - Attributes

Together with P-0-0925, this parameter determines the master drive gear which
is used for phase-synchronous operation of the virtual axis.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-MDT

Input
MPB:
MPD:
MPH:

4.6.24

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1 / 65535
1 / 65535
1 / 65535

Default value
1
1
1

P-0-0927, Master drive gear fine adjust, secondary master


Allocation

Function

P-0-0927 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-synchronisation (ELS)

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.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

P-0-1000 - P-0-1099 Encoder Evaluation

4.7.1

P-0-1000, Kind of encoder 1, encoder memory

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
6
set switchable: --

min./max.
-799,999999 /
799,999999
-799,999999 /
799,999999
-799,999999 /
799,999999

4.7

Allocation

-
-
-
MPD

MPB
MPB
MPB
MPB
-closed loop

Default value
0,000000
0,000000
0,000000

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the case of motors with encoder data memory (MHD, MKD, MKE, MSK) the
characteristic value for the type and specific features of encoder 1 (motor en
coder) can be read from this parameter.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

Use

The value that has been read allows identifying the encoder incorporated in the
motor:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 591/1033


and Controls

Product-Specific Parameters
Value of P-0-1000

Encoder type

Specific feature

0x0000

resolver

single-turn encoder

0x0010

resolver

multi-turn encoder

0x0004

HSF

single-turn encoder

0x0014

HSF

multi-turn encoder

0xc001

EnDat

single-turn encoder

0xe001

EnDat

multi-turn encoder

0x4001

EnDat

length measurement sys


tem

0x00x2

HIPERFACE

single-turn encoder

0x00x7

HIPERFACE

multi-turn encoder

This parameter is invalid for motors without encoder data memory!


P-0-1000 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.7.2

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1001, Encoder 1 resolution, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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, MHD, MKD and MKE
motors), the value is copied to the effective parameter "S00116, Feedback 1
Resolution" 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:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
FEEDB_I2C
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

592/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.7.3

P-0-1002, Absolute encoder offset 1, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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.
Customers cannot interpret the value!
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-1002 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.7.4

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1003, Pulse wire encoder offset 1, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The offset of the pulse wires in relation to the resolver (motor encoder) is stored
in this parameter. The offset is determined at the factory and stored in the en
coder memory. This parameter is only required with multi-turn resolvers!
Customers cannot interpret the value!
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-1003 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.7.5

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1004, Pulse wire encoder status 1, encoder memory


Allocation

Contained in 02VRS:
Contained in 03VRS:

MPB
MPB

MPH
MPH

MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 593/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPB
-closed loop

MPH
MPH

MPD
MPD

This parameter contains the information of the absolute position of the resolver
encoder (motor encoder).
The value is updated with every position initialization. It cannot be written by
the user. This parameter is only required with multi-turn resolvers!
Customers cannot interpret the value!
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-1004 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.7.6

PM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1010, Kind of encoder 2, encoder memory


Allocation

Function

Use

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the case of optional encoders with encoder data memory the characteristic
value for the type and specific features of encoder 2 can be read from this
parameter.
The encoder 2 can be identified by the value that has been read:
Value of P-0-1010

Encoder type

Specific feature

0x0000

resolver

single-turn encoder

0x0010

resolver

multi-turn encoder

0x0004

HSF

single-turn encoder

0x0014

HSF

multi-turn encoder

0x0003

DSF

single-turn encoder

0x0013

DSF

multi-turn encoder

0x4001

EnDat

absolute encoder lin.

0xc001

EnDat

single-turn encoder rot.

0xe001

EnDat

multi-turn encoder rot.

0x00x2

HIPERFACE

single-turn encoder

0x00x7

HIPERFACE

multi-turn encoder

594/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
This parameter is invalid for encoders without data memory!
P-0-1010 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.7.7

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1011, Encoder 2 resolution, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 "S00117, Feedback 2 Resolu
tion" when the controller is initialized (transition to phase 4).
See also Functional Description "Measuring Encoder"

P-0-1011 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.7.8

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1012, Absolute encoder offset 2, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter is required for homing absolute optional encoders. The value
is the difference between the zero point of the optional encoder and the machine
zero point in the position data format of the encoder 2.
Customers cannot interpret the value!

P-0-1012 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 595/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.7.9

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1013, Pulse wire encoder offset 2, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The offset of the pulse wires in relation to the optional encoder (resolver) is
stored in this parameter. The offset is determined at the factory and stored in
the encoder memory. This parameter is only required with multi-turn resolvers!
Customers cannot interpret the value!

P-0-1013 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.7.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1014, Pulse wire encoder status 2, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter contains the information of the absolute position of the optional
encoder (resolver encoder).
The value is updated with every position initialization. It cannot be written by
the user and is only required with multi-turn resolvers!
Customers cannot interpret the value!

P-0-1014 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
FEEDB_I2C
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

596/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.7.11

P-0-1020, Kind of encoder 3, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

In the case of measuring encoders with encoder data memory the characteristic
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:
Value of P-0-1020

Encoder type

Specific feature

0x0000

resolver

single-turn encoder

0x0010

resolver

multi-turn encoder

0x0004

HSF

single-turn encoder

0x0014

HSF

multi-turn encoder

0x0003

DSF

single-turn encoder

0x0013

DSF

multi-turn encoder

0x4001

EnDat

absolute encoder lin.

0xc001

EnDat

single-turn encoder rot.

0xe001

EnDat

multi-turn encoder rot.

0x0002

SCS60/70

single-turn encoder

0x0007

SCM60/70

multi-turn encoder

0x0012

SNS50/60

single-turn encoder

0x0022

SCS-Kit 101

single-turn encoder

0x0027

SCM-Kit 101

multi-turn encoder

0x0032

BRC-Single

single-turn encoder

0x0037

BRC-Multi

multi-turn encoder

Fig.4-174:

Assignment value of P01020, encoder type and feature

This parameter is invalid for encoders without data memory!


P-0-1020 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
FEEDB_I2C
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 597/1033


and Controls

Product-Specific Parameters

4.7.12

P-0-1021, Encoder 3 resolution, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

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 "P00327, 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:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.7.13

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1022, Absolute encoder offset 3, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)

MPD
MPD
MPD
MPD

The parameter "P01022, Absolute encoder offset 3, encoder memory" is re


quired for homing an absolute measuring encoder. The value is the difference
between the zero point of the optional encoder and the machine zero point in
the position data format of the encoder 3 (measuring encoder).
Customers cannot interpret the value!
See also Functional Description "Measuring Encoder"

P-0-1022 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.7.14

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1044, Master communication: status IP communication


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
MPB

-
-
-
MPH

-
-
-
MPD

598/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):

optional master communication card


"open loop", "closed loop"

Function

Via the parameter "P-0-1044, Master communication: status IP communica


tion", you can read the status information on the current status of IP commu
nication at the Industrial Ethernet slave interface of the device. The parameter
contains both general information on IP communication and device-dependent
information for the Industrial Ethernet slave in the device.

Structure

The general status information on IP communication is preferably contained in


the first 8 bits of parameter P-0-1044. The bits 8 to 31 contain the device-de
pendent information.
The individual bits of the parameter have the following significance:
Bit

Designation/function

1..0

status internal memory TCP/IP stack


00: no problem with internal memory
01: internal memory space full
10: internal memory space intermittently filled

3..2

reserved

6..4

default gateway information


000: not set
001: from Ethernet slave (S-0-1022)
010: from SERCOS III master (P-0-1643)
100: from Engineering Port (P-0-1533)

7
9..8

reserved
setting of device gateway information
00: no gateway information set
01: active gateway information manually set
10: active gateway information automatically generated

11..10 status of device gateway information


00: gateway information not used
01: gateway address which was read is active
10: gateway address which was read has not been activated
up to now
12

status of device network mask


0: network mask which was read is active
1: network mask which was read has not been activated up to
now

15..13 reserved
17..16 setting of device IP address
00: no IP address set
01: active IP address manually set
10: active IP address automatically set

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 599/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

Comment

20..18 status of IP address


000: no IP address available for activation
001: IP address which was read is active
010: IP address which was read has not been activated up to
now
100: "Duplicate IP Address", address not active
21

reserved

22

validity of device IP settings


0: IP settings valid
1: invalid IP settings (address and gateway in different net
works)

23

status of IP communication
0: IP communication possible
1: no IP communication possible (resources missing)

25..24 status of FPGA Rx Buffer Port1


00: FPGA Rx Buffer Port1 able to receive data
01: FPGA Rx Buffer Port1 temporarily busy
10: FPGA Rx Buffer Port1 permanently busy
27..26 status of FPGA Rx Buffer Port2
00: FPGA Rx Buffer Port2 able to receive data
01: FPGA Rx Buffer Port2 temporarily busy
10: FPGA Rx Buffer Port2 permanently busy
29..28 status of FPGA Tx Buffer Port1
00: FPGA Tx Buffer Port1 able to receive data
01: FPGA Tx Buffer Port1 temporarily busy
10: FPGA Tx Buffer Port1 permanently busy
31..30 status of FPGA Tx Buffer Port2
00: FPGA Tx Buffer Port2 able to receive data
01: FPGA Tx Buffer Port2 temporarily busy
10: FPGA Tx Buffer Port2 permanently busy

Fig.4-175:
P-0-1044 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

P-0-1044, Master communication: status IP communication


Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

600/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.8

P-0-1100 - P-0-1299 Velocity Control

4.8.1

P-0-1119, Velocity mix factor feedback 1 & 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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 (optional
encoder).
If no optional encoder is available, the parameter is set to 0%.
If encoder 2 (optional encoder) is used as the only control encoder,
the value is to be set to 100%.

P-0-1119 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Input
MPB:
MPD:
MPH:

4.8.2

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
0,0 / 100,0
0,0 / 100,0
0,0 / 100,0

Default value
0,0
0,0
0,0

P-0-1120, Velocity control loop filter: filter type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

This parameter allows activating and selecting up to 4 different filters (2nd order).
See also Functional Description "Velocity Loop"

Use

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 601/1033


and Controls

Product-Specific Parameters

Fig.4-176:

Parameterizable filter cascade

The following filter types can be selected:

0: filter switched off

1: low pass activated


"P-0-1121, Velocity control loop filter: limit frequency of low pass"

2: band-stop filter activated


"P-0-1122, Velocity control loop filter: bandwidth of band-stop filter"
"P-0-1123, Velocity control loop filter: center frequency of band-stop
filter"

Depending on P01120, the parameters P01121, P01122 and P01123,


according to the activated filter type, are used for parameterizing the selected
filter type.
All above filter parameters (P01120, P01121, P01122 and
P01123) are list parameters with 4 elements each (element1 for
filter1, element2 for filter2, ...).
The content of "P01120, Velocity control loop filter: filter type" consists of 4
elements:

P-0-1120 - Attributes

P-0-1120[0] filter type for filter1

P-0-1120[1] filter type for filter2

P-0-1120[2] filter type for filter3

P-0-1120[3] filter type for filter4

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.8.3

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
0/8
0/8
0/8

Default value
-------

P-0-1121, Velocity control loop filter: limit frequency of low pass


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

602/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

This parameter is used to parameterize the corner frequency of the 4 filters that
can be selectively activated via P01120. The input value is in Hz, i.e. the actual
frequency (f=1/T) is input at which it is intended to obtain an attenuation of
3dB (attenuation of the amplitude to 0.707 of the input amplitude!).
See also Functional Description "Velocity Loop"

Use

Fig.4-177:

Low pass characteristic

The content of "P01121, Velocity control loop filter: limit frequency of low pass"
consists of 4 elements:

P-0-1121[0] limit frequency for low pass filter1

P-0-1121[1] limit frequency for low pass filter2

P-0-1121[2] limit frequency for low pass filter3

P-0-1121[3] limit frequency for low pass filter4


A list element in P01121 is only relevant, however, if the respective
list element in P01120 has been set to "1" (filter type = low pass).

P-0-1121 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Hz
--

Input
MPB:
MPD:
MPH:

4.8.4

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
4,0 / 4000,0
4,0 / 4000,0
4,0 / 4000,0

Default value
-------

P-0-1122, Velocity control loop filter: bandwidth of band-stop filter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to parameterize the bandwidth of the 4 band-stop filters


that can be selectively activated via P01120 [n] = 2. The input value is in Hz,
i.e. the actual frequency (f=1/T) is input. Notes on how to parameterize the
band-stop filter are contained in the Functional Description.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 603/1033


and Controls

Product-Specific Parameters
See also Functional Description "Velocity Loop"
Use

Fig.4-178:

Amplitude characteristic of a band-stop filter depending on the band


width (qualitative)

The content of "P01122, Velocity control loop filter: bandwidth of band-stop


filter" consists of 4 elements:

P-0-1122[0] bandwidth for band-stop filter1

P-0-1122[1] bandwidth for band-stop filter2

P-0-1122[2] bandwidth for band-stop filter3

P-0-1122[3] bandwidth for band-stop filter4


A list element in P0-1122 is only relevant, however, if the respective
list element in P01120 has been set to "2" (filter type = band-stop
filter).

P-0-1122 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Hz
--

Input
MPB:
MPD:
MPH:

4.8.5

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
10,0 / 1000,0
10,0 / 1000,0
10,0 / 1000,0

Default value
-------

P-0-1123, Vel. cont. loop filter: center frequency of band-stop filter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to parameterize the center frequency of the 4 band-stop


filters that can be selectively activated via P01120 [n] = 2. The input value is

604/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
in Hz, i.e. the actual frequency (f=1/T) is input. Notes on how to parameterize
the band-stop filter are contained in the Functional Description.
See also Functional Description "Velocity Loop"
Use

Fig.4-179:

Amplitude characteristic of a band-stop filter depending on the band


width (qualitative)

The content of "P01123, Vel. cont. loop filter: center frequency of band-stop
filter" consists of 4 elements:

P-0-1123[0] center frequency for band-stop filter1

P-0-1123[1] center frequency for band-stop filter2

P-0-1123[2] center frequency for band-stop filter3

P-0-1123[3] center frequency for band-stop filter4


A list element in P01123 is only relevant, however, if the respective
list element in P01120 has been set to "2" (filter type = band-stop
filter).

P-0-1123 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Hz
--

Input
MPB:
MPD:
MPH:

4.8.6

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
4,0 / 4000,0
4,0 / 4000,0
4,0 / 4000,0

Default value
-------

P-0-1125, Velocity control loop: average value filter clock


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
-
-
-"open loop", "closed loop"

MPD
MPD
MPD
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 605/1033


and Controls

Product-Specific Parameters
Function

This parameter allows filtering the velocity control loop deviation with a moving
average filter. In the case of this filter type and with constant input value, the
output is always:

Fig.4-180:

Velocity control loop deviation

This means that the filter output, with constant input value, increases in a linear
way and has reached its final value at the filter output after the time .
This filter type therefore does not show the typical "creep
behavior" (filter output increases and decreases according to an efunction!) of the usual VZ1 and VZ2 filters.
See also Functional Description "Velocity Loop"
P-0-1125 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.8.7

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
1 / 16
1 / 16
1 / 16

Default value
1
1
1

P-0-1126, Velocity control loop: acceleration feedforward


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 with the value of "P01126, Velocity control loop: acceleration feed
forward" in order to add (feedforward) a corresponding additive torque com
mand value.
The feedforward value (= additive torque/force command value) can be
smoothed by a subsequent low-pass filter (cf. P00180).
This kind of feedforward can, for example, be used to minimize the
command value deviation in the acceleration phase.
Input Values

606/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Acceleration feedforward is activated by entering a value greater
than "0" in "P01126, Velocity control loop: acceleration feedfor
ward"!(P-0-1126 = 0 switched off)!
For optimum parameterization of acceleration feedforward the following has to
be entered in "P01126, Velocity control loop: acceleration feedforward":

total mass (motor + load) in kg (linear motor),

total mass inertia (motor + load), referring to the motor output shaft, in
kgm^2 (rotary motor).
Depending on the respective mechanical system, the input value of
"P01126, Velocity control loop: acceleration feedforward" has to
be adjusted on site.

Unit, Decimal Places


The drive firmware automatically adjusts the unit and decimal places to the type
of construction of the motor (rotary or linear) entered in "P04014, Type of
construction of motor".

P-0-1126 - Attributes

rotary motor: mN*m / rad/s^2 g*m^2

linear motor: mN / mm/s^2 kg.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
P-0-4014
--

Input
MPB:
MPD:
MPH:

4.8.8

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
P-0-4014
set switchable: +
Default value
0,0000
0,0000
0,0000

P-0-1139, Cogging torque compensation adaption factor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-Servo(compensation), synchronisation (ELS)

This parameter has a multiplying effect on all values of the cogging torque
compensation tables and allows compensating to a higher degree the cogging
torques which increase with load.
See also Functional Description "Compensation Functions/Corrections"

P-0-1139 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
-%
MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

min./max.
0,0 / 500,0
0,0 / 500,0
0,0 / 500,0

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
100,0
100,0
100,0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 607/1033


and Controls

Product-Specific Parameters

4.8.9

P-0-1150, Command value generator output


Allocation

Function
P-0-1150 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1151, Command value generator, list of possible target parameters


Allocation

Function

P-0-1151 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This list parameter contains the IDNs of the parameters that can be entered in
"P01152, Command value generator, target parameter assignment". These
parameters are available for assigning the command value generator command
value.
Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.8.11

-
-
MPD
MPD

This parameter displays the output value of the command value generator. The
output value is displayed in the format of the assigned parameter.

Input
MPB:
MPD:
MPH:

4.8.10

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1152, Command value generator, target parameter assignment


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Function

In this parameter the IDN of that parameter is entered 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 the param
eters

P-0-1150, Command value generator, command value

608/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

P-0-1154, Command value generator, offset

P-0-1155, Command value generator, amplitude

switches to that of the target parameter.


P-0-1152 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.12

PM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1153, Command value generator, control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter is used for configuring the integrated command value genera
tor.
See also Functional Description "Drive-Integrated Command Value Generator"

Structure

Bit

Designation/function

3-0

signal selection (selection of signal shape of command


value generator)
0001: noise signal
0010: sine signal
0011: square-wave signal
0100: modified sine signal

enabling
0: disabled
The command value generator is stopped and the com
mand value zero is output.
1: enabled
The command value generator is enabled and command
value output to the target parameter takes place.

periodic signal
0: one-time sequence
1: periodic signal generation
Note: The setting of the periodic time for noise signal is
fixed to 4095 cycles!

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 609/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

switch-off delay

Comment

For generating signals free of mean values the switch-off


of signal generation can be delayed until a complete sig
nal period is output.
0: enable signal switched off immediately
1: switch-off delayed until period complete
7

amplitude of noise generator


The noise signal can be generated with constant ampli
tude (square-wave pulses with different periodic time) or
with continuous amplitude.
0: amplitude as square-wave signal
1: amplitude as factor

reset of enabling

as of MPx05

The enabling of the command value generator can be


automatically reset after a drive error.
0: Enabling is maintained, i.e. after drive error has been
cleared and drive enabled, the command value becomes
effective.
1: Repeated enabling of the command value generator is
required after a drive error has been cleared.

Fig.4-181:
P-0-1153 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-1153, Command value generator, control word


Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.8.13

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
-+

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1154, Command value generator, offset


Allocation

Function

P-0-1154 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter is used for setting the direct component (offset) for the selected
signal (sine, square-wave, noise). The display, i.e. unit and scaling of the pa
rameter, are set according to the assigned parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
MinLong / MaxLong

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: -Default value
0,0000

610/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.8.14

MinLong / MaxLong
MinLong / MaxLong

P-0-1155, Command value generator, amplitude


Allocation

Function

P-0-1155 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter is used for setting the amplitude (double crest value, peak-topeak value). The range of values of the selected signal shape (sine, squarewave, 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.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.8.15

0,0000
0,0000

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
StdOne / MaxLong
StdOne / MaxLong
StdOne / MaxLong

Default value
10,0000
10,0000
10,0000

P-0-1156, Command value generator, duration 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter is used for setting the square-wave signal. For the duration
"P01156, Command value generator, duration 1" the command value gener
ator output "P01150, Command value generator, command value" is set to
half the positive amplitude "P01155, Command value generator, amplitude"
plus offset "P01154, Command value generator, offset".
When the duration 1 is over, the output of the command value generator is set
to half the negative amplitude "P01155, Command value generator, ampli
tude" plus offset "P01154, Command value generator, offset". Duration 2
starts as of this point of time.

P-0-1156 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
AT + MDT

Input
MPB:
MPD:
MPH:

4.8.16

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
0,000
0,000
0,000

P-0-1157, Command value generator, duration 2


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

-
MPB
MPB

-
MPH
MPH

-
-
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 611/1033


and Controls

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
-"open loop", "closed loop"

MPD

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 "P01157, Com
mand value generator, duration 2" the command value generator output
"P01150, Command value generator, command value" is set to half the neg
ative amplitude "P01155, Command value generator, amplitude" plus offset
"P01154, Command value generator, offset". When duration 2 is over, the
output signal is set to the offset "P01154, Command value generator, offset"
until the periodic time has been reached.

P-0-1157 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
AT + MDT

Input
MPB:
MPD:
MPH:

4.8.17

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
0,000
0,000
0,000

P-0-1158, Command value generator, periodic time


Allocation

Function

P-0-1158 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter is used for setting the square-wave signal and the sine signal
for command value generator. When the periodic time is over, the signal output
is repeated.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
AT + MDT

Input
MPB:
MPD:
MPH:

4.8.18

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax

Default value
10,000
10,000
10,000

P-0-1200, Control word 1 velocity control


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the "velocity control" mode this parameter is used to control or configure the
following functions:

channel for velocity command value input (memory of fixed values or


S00036)

behavior of ramp generator (run-up stop)

612/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

command value generator (motor potentiometer)


The control word can be cyclically written, the assignment of indi
vidual bits from signal control word or digital inputs is possible, too.
In contrast to P01214, parameter P01200 is stored in the drive
in volatile form!

See also Functional Description of operating mode "Notes on Commissioning"


Structure

Bit

Designation/function

Comment

4-0

activation of command value P-0-1206

As of MPx04V06,
binarily coded
command value
selection is possi
ble!

00000: command value S-0-0036 active


xxxxx: fixed command value P-0-1206[i] and/or ramps
and filters P-0-1223[i], P-0-1224[i], P-0-1225[i] active
7-5

run-up stop
000: deactivated
xx1: unconditionally active
010: if command value limitation active
100: if torque limitation active
110: if command value limitation or torque limitation ac
tive

9/8

ramp inputs for motor potentiometer


00: command value is maintained
01: command value is increased
10: command value is reduced
11: command value is maintained

10

inversion of velocity command value

as of MPx04

0: not active
1: active

Fig.4-182:
Use

P-0-1200, Control word of velocity control mode

Take the following aspects into account for parameter setting:

Bit 4-0: activation of command value P-0-1206:


If one of the bits 0...4 has been set in P01200, it is not the velocity com
mand value S00036 that is used, but a list element from the command
value memory P01206. For this purpose, the selection mode can be se
lected and the current command value, ramp and filter memories can be
activated or deactivated in parameter "P-0-1214, Control word 2 velocity
control". Selection mode:

direct selection (max. 5 command values)

binary coding (up to 31 command values)

Bit 7-5: run-up stop: The run-up stop function interrupts an acceleration
process of the ramp generator, i.e. the output of the ramp generator is
frozen. The ramp-function generator can continue carrying out decelera
tion processes, i.e. slowing down the drive is always possible. The run-up
stop function can be carried out in three ways, either via external selection
by the user (bit 5 = 1) or controlled by the warning command value limit
active (bit 6 = 1) or torque limit active (bit 7 = 1).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 613/1033


and Controls

Product-Specific Parameters

Bit 9/8: motor potentiometer: Bits 8 and 9 of "P01200, Control word of


velocity control mode" only take effect after bit 0 was set in "P01214,
Control word 2 velocity control" and are used to change the ramp accel
eration or velocity when using the motor potentiometer function.

Bit 8: "ramp" increasing the ramp acceleration or velocity

Bit 9: "ramp" reducing the ramp acceleration or velocity


If both bits are equal ("00" or "11"), the command value remains
unchanged!

P-0-1200 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.19

PM+OM
-+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0 / 0xFFF
0 / 0xFFF
0 / 0xFFF

Default value
0
0
0

P-0-1201, Ramp 1 pitch


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The acceleration entered in "P01201, Ramp 1 pitch" takes effect in the "ve
locity 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
"P01202, Final speed ramp 1".
Influence of P-0-1209
If the function "speed masking in command value channel" is used (P01207,
P01208, P01209), the content of P01201 is multiplied with the content of
P01209 and this influences the effective acceleration.
Up to MPx04VRS: If the value in parameter "P-0-1201, Ramp 1
pitch" = 0, ramp 1 is not active.
As of MPx05VRS: The value of parameter "P-0-1201, Ramp 1 pitch"
should always be smaller than the value of parameter "S-0-0138,
Bipolar acceleration limit value", because otherwise the warning
"E2070 Acceleration limit active" is output. When the value "0" is
input in the parameter and with values greater than S-0-0138, pa
rameter S-0-0138 takes effect.

P-0-1201 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte
DEC_MV

614/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:

S-0-0160

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

4.8.20

S-0-0161 /
S-0-0162
set switchable: +
Decim. pl.:

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
0,000
0,000
0,000

P-0-1202, Final speed ramp 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter "P01202, 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 "P01202, Final speed ramp 1", the pitch of the drive-internal speed
command value ramp changes as follows:

from the value indicated in "P01201, Ramp 1 pitch" to the value indicated
in "P01203, Ramp 2 pitch" (acceleration)

or from the value indicated in "P01211, Deceleration ramp 1" to the value
indicated in "P01213, Deceleration ramp 2" (deceleration)

See also Functional Description "Velocity Command Value Reset With Filter
and Ramp"
P-0-1202 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

4.8.21

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: +

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
0,0000
0,0000
0,0000

P-0-1203, Ramp 2 pitch


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The acceleration entered in "P01203, Ramp 2 pitch" takes effect in the "ve
locity 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
soon as the velocity at the ramp output is greater than the value entered in
"P01202, Final speed ramp 1".
See also Functional Description "Velocity Control"

Use

Influence of P01209

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 615/1033


and Controls

Product-Specific Parameters
If the function "speed masking in command value channel" is used (P01207,
P01208, P01209), the content of P01201 is multiplied with the content of
P01209 and this influences the effective acceleration.
Up to MPx04VRS: If the value in parameter "P-0-1203, Ramp 2
pitch" = 0, ramp 2 is not active.
As of MPx05VRS: The value of parameter "P-0-1203, Ramp 2 pitch"
should always be smaller than the value of parameter "S-0-0138,
Bipolar acceleration limit value", because otherwise the warning
"E2070 Acceleration limit active" is output. When the value "0" is
input in the parameter and with values greater than S-0-0138, pa
rameter S-0-0138 takes effect.
P-0-1203 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.8.22

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: +

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
0,000
0,000
0,000

P-0-1206, Memory of velocity command values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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
P01200.
As of MP*04VRS, selection via P-0-1200 takes place in binarily co
ded form!
See also Functional Description "Velocity Control"
See also Parameter Description "P-0-1200, Control word 1 velocity control"

Structure

Use

The parameter has a list structure; the following assignments apply to it:
P-0-1206

Significance

element 1 - 5

fixed command value 1 5

element 6 31

fixed cmd value 6 31

Comment

as of MP*04VRS

The following has to be observed for using the fixed command values:

The function for selecting the fixed command values P01206 only takes
effect in the "velocity control" mode.

In contrast to S-0-0036, the parameter P-0-1206 cannot be cyclically


changed.

616/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

P-0-1206 - Attributes

The range of values and unit of the parameter elements in P01206 cor
respond to those of the velocity command value S00036.

When P-0-1200 = 0 is selected, no fixed command value takes effect, but


S-0-0036 or possibly the command value of the motor potentiometer func
tion.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0044

Cycl. tra.: --

Extr. val. ch.:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.8.23

Data length:
Format:

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-1207, Lower limit of velocity masking window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In conjunction with the parameter P01208 (upper limit of velocity masking


window), the list parameter P01207 defines four velocity ranges (velocity win
dows).
The ranges apply to positive and negative velocities, the definitions of the rang
es are mirrored with regard to speed zero.

The function "velocity masking window" is only effective in the


"velocity control" mode.

The parameter "P01210, Status word of velocity control


mode" contains information on the status of the current com
mand value with regard to a velocity masking window.

See also Functional Description "Velocity Loop"


Record of Modifications

P-0-1207 - Attributes

Version

Attribute

Comment

GEN-02VRS

Memory: PARAM_SP

GEN-02VRS

Validity ch.: no

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 617/1033


and Controls

Product-Specific Parameters

4.8.24

P-0-1208, Upper limit of velocity masking window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The list parameter "P01208", in conjunction with the parameter


"P01207" (lower limit of velocity masking window), defines four velocity ranges
(velocity windows).
The ranges apply to positive and negative velocities, the definitions of the rang
es are mirrored with regard to speed zero.

The function "velocity masking window" is only effective in the


"velocity control" mode.

The parameter "P01210, Status word of velocity control


mode" contains information on the status of the current com
mand value with regard to a velocity masking window.

See also Functional Description "Velocity Loop"


P-0-1208 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.8.25

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-1209, Acceleration factors for velocity masking window


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The list parameter P01209 contains the acceleration factors that take effect
in the velocity ranges defined with P01207 and P01208.
The ramp generator passes the range of the velocity window (P01207 and
P01208). But the acceleration factors indicated in P01209 have a multiplying
effect on the acceleration and deceleration values or, in the case of alternative
scaling of the acceleration, on the ramp times of the ramp generator (P01201,
P01203, P01211 and P01213).
See also Functional Description "Velocity Loop"

Use

The effect of P01209 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.

618/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The units of P01201, P01203, P01211 and P01213 depend
on the scaling (cf. S00160).

P-0-1209 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

The acceleration factors (P-0-1209) only take effect in the "ve


locity control" mode. They are neither active during the com
mand "Drive Halt".

The status word of the "velocity control" mode P01210 con


tains information on the current status of the command value
or the ramp output with regard to a velocity masking window.

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.26

PM+OM
PM->OM
+
--

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

min./max.
1,00 / 100,00
1,00 / 100,00
1,00 / 100,00

Default value
-------

P-0-1210, Status word of velocity control mode


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For the velocity control mode the parameter P01210 contains information on
the current status of the ramp generator and the current command value.
The parameter P01210 can be configured in the cyclic actual val
ue channel (e.g. AT with SERCOS) in "S00144, Signal status
word" and assigned to the digital outputs.
See also Functional Description "Velocity Loop"

Structure

Bit

Designation/function

command value reached


the output of the ramp generator and the jerk filter corre
sponds exactly to the provided velocity command value

run-up stop active


The run-up stop function has been activated either directly
or via cmd value limitation or torque limitation. The ramp
generator keeps the output frozen, as long as there isn't any
cmd value provided that is higher than the current ramp out
put. The jerk filter is not influenced.

acceleration active
the ramp generator is in the acceleration status

deceleration active
the ramp generator is in the deceleration status

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 619/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

Comment

cmd value within masking window


Command value input hits a velocity masking window, the
active command value is therefore influenced.

V ramp within masking window


The ramp generator is in acceleration or deceleration status.
An acceleration factor from P-0-1209 is active, because the
current value is within a velocity masking window.

Fig.4-183:

P-0-1210, Status word of velocity control mode

All status displays of P01210 are only active in the "velocity con
trol" mode.
P-0-1210 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.27

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1211, Deceleration ramp 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The deceleration entered in "P01211, Deceleration ramp 1" only takes effect
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
"P01202, Final speed ramp 1".
See also Functional Description "Velocity Command Value Reset with Filter
and Ramp ("Quick Stop")"

Use

Influence of P01209
If the function "speed masking in command value channel" is effective
(P01207, P01208, P01209), the content of P01211 is multiplied with the
content of P01209 and this influences the effective deceleration.
Up to MPx04VRS: If the value in parameter "P-0-1211, Decelera
tion ramp 1" = 0, ramp 1 is not active.

620/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
As of MPx05VRS: The value of parameter "P-0-1211, Deceleration
ramp 1" should always be smaller than the value of parameter
"S-0-0138, Bipolar acceleration limit value", because otherwise the
warning "E2070 Acceleration limit active" is output. When the value
"0" is input in the parameter and with values greater than S-0-0138,
parameter S-0-0138 takes effect.
P-0-1211 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

4.8.28

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: +

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
0,000
0,000
0,000

P-0-1213, Deceleration ramp 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The deceleration entered in "P01213, Deceleration ramp 2" takes effect in the
"velocity control" mode during the deceleration 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
"P01202, 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 P01213 is multiplied with the content of
P01209 and this influences the effective deceleration.
Up to MPx04VRS: If the value in parameter "P-0-1213, Decelera
tion ramp 2" = 0, ramp 2 is not active.
As of MPx05VRS: The value of parameter "P-0-1213, Deceleration
ramp 2" should always be smaller than the value of parameter
"S-0-0138, Bipolar acceleration limit value", because otherwise the
warning "E2070 Acceleration limit active" is output. When the value
"0" is input in the parameter and with values greater than S-0-0138,
parameter S-0-0138 takes effect.

P-0-1213 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: MDT

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: +

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 621/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.8.29

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
0,000
0,000
0,000

P-0-1214, Control word 2 velocity control


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

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:


Bit

Designation/function

motor potentiometer, enabling


0: locked, i.e. S-0-0036 or P-0-1206[i] active
1: motor potentiometer is active

2/1

motor potentiometer, initial value after drive enable


00: start with command value 0
01: drive moves to old command value again
10: actual velocity value S00040 is maintained
11: not allowed!

motor potentiometer, acceleration for ramp command val


ue
0: constant: velocity increased or reduced in linear form
with activation time of ramp inputs (ramp+, ramp-)
1: linear change:velocity increased or reduced in square
form with activation time of ramp inputs (ramp+, ramp-)

motor potentiometer, evaluation mode of ramp inputs


0: continuously: acceleration as long as a ramp input (ramp
+, ramp-) is activated
1: edge-controlled: velocity increased by step size in the
case of 0->1 edge at a ramp input (ramp+, ramp-)

Comment

622/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

Comment

selection mode of active command value, ramp and filter


memories

as of MPx04V06

0: direct selection by P01200, bit 0-4


1: binarily coded selection by P01200, bit 0-4
10,9

selection of active command value, ramp and filter memo


ries
00: only memory of fixed command values (P-0-1206)
01: no selection
10: fixed command values (P-0-1206) and ramps
(P-0-1223, P-0-1224) and filter time constants (P-0-1225)
11: only ramps (P-0-1223, P-0-1224) and filter time con
stants (P-0-1225), no fixed command values

Fig.4-184:

P-0-1214, Control word 2 velocity control

In contrast to P01200, parameter P01214 is stored in the drive


in non-volatile form!
Use

The following has to be observed for parameterization:

P-0-1214 - Attributes

Bit 8: selection of memory of fixed command values, of filter time constant


memory and of ramp pitch lists

0: Direct selection: Each bit in P01200 selects exactly one element


of the command value memory. If more than one bit of the group of
bits 0...4 has been set, the least significant bit determines the com
mand value selection. Bit 0 has the highest priority.

1: Binary coding: The binary numeric value of P01200, bit 4...0,


selects an element of the command value memory.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.8.30

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1215, Motor potentiometer, acceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

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 P01214, bit8 ("ramp+") P-0-1218
= activation time * [P-0-1215]

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 623/1033


and Controls

Product-Specific Parameters

For square velocity change:Definition of the acceleration change by which


the ramp velocity changes within 2 s when setting P01214, bit8 ("ramp
+") acceleration = activation time * ( [P-0-1215] / 2 s)
With the input activated the velocity is increased in linear or square
form (see "P01214, Motor potentiometer, control parameter") until
the effective positive velocity limit value, i.e. minimum value
(S00091, S00038), has been reached.

See also Functional Description "Velocity Control"


P-0-1215 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.8.31

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
100,000
100,000
100,000

P-0-1216, Motor potentiometer, deceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

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 P01214, bit9 ("ramp-")
P-0-1218 = activation time * [P-0-1216]

For square velocity change: Definition of the acceleration change by which


the ramp velocity changes within 2 s when setting P01214, bit9 ("ramp-")
deceleration = activation time * ([P-0-1216] / 2 s)
With the input activated, the velocity is reduced in linear or square
form (see control word 2 velocity control) until the effective negative
velocity limit value, i.e. minimum value (S00091, S00039), has
been reached.

See also Functional Description "Velocity Control"


P-0-1216 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: -Default value
100,000
100,000
100,000

624/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.8.32

P-0-1217, Motor potentiometer, step size


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter takes effect when bit 4 "change by constant velocity step" is
one in "P01214, Motor potentiometer, control parameter".
"P01218, 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 S00038 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 S00039 has been reached.
See also Functional Description "Velocity Control"

P-0-1217 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: MDT


Input
MPB:
MPD:
MPH:

4.8.33

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
50,0000
50,0000
50,0000

P-0-1218, Motor potentiometer, command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

The parameter "P01218, Motor potentiometer, command value" is used to


display the velocity command value generated by the motor potentiometer. Af
ter it was processed in the ramp-function generator, this value is also displayed
in "P-0-0048, Effective velocity command value".
The value of parameter P01218 is stored in case the control volt
age fails so that it is possible to reuse the value.
See also Functional Description "Velocity Control"

P-0-1218 - Attributes

Function: Par
Editability:
Memory: RETAIN_KUNDEValidity ch.:

nein
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


--- / ----- / ----- / ---

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 625/1033


and Controls

Product-Specific Parameters

4.8.34

P-0-1222, Velocity command filter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to round acceleration jumps in the velocity command


value characteristics in order to have a smooth initialization or deceleration of
the drive in velocity control.
See also Functional Description "Velocity Command Value Reset With Filter
and Ramp"

Use

With the time constant entered in parameter "P01222, Velocity command fil
ter", the velocity command value (cf. S00036) created in the "velocity control"
mode by the ramp function (cf. P01201, P01202, P01203, P01211,
P01213) is filtered (PT1 filter).
The effective velocity command value (cf. P00048) at the controller input re
sults from the sum of

P-0-1222 - Attributes

the ramp-shaped and filtered value in "S00036, Velocity command val


ue" and

the direct value in "S00037, Additive velocity command value"

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.35

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
0 / 10000
0 / 10000
0 / 10000

Default value
0
0
0

P-0-1223, List of acceleration ramps


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

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 P01200.
See also Functional Description "Velocity Control"

Structure

P-0-1223
element 1 to 31

Fig.4-185:
Use

Significance
acceleration ramp pitch 1 to 31

Acceleration ramps

The following has to be observed for using the fixed command values:

The function for selecting the acceleration and deceleration ramp pitches
P-0-1223 and P-0-1224 only takes effect in the "velocity control" mode.

The unit of P-0-1223 and P-0-1224 corresponds to the setting made in


S-0-0160 (acceleration data scaling type).

626/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

When setting P-0-1200, bit 0-4 = 0, the ramp pitches set in P-0-1201,
P-0-1202, P-0-1203, P-0-1211, P-0-1213 become active.

Parameter "P-0-1214, Control word 2 velocity control", bit 10, 9 deter


mines whether the control bits 0...4 in P-0-1200 only select fixed command
values, only ramp pitches and filter time constants or both.

See also Parameter Description "P-0-1200, Control word 1 velocity control"


See also Parameter Description "P-0-1206, Memory of velocity command val
ues"
See also Parameter Description "P-0-1214, Control word 2 velocity control"
See also Parameter Description "P-0-1225, List of smoothing time constants"
P-0-1223 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: --

Extr. val. ch.:

Comb. check: --

Input
MPB:
MPD:
MPH:

4.8.36

Data length:
Format:

4Byte var.
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

P-0-1224, List of braking ramps


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

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 P01200.
See also Functional Description "Velocity Control"

Structure

P-0-1224
element 1 to 31

Fig.4-186:
Use

Significance
deceleration ramp pitch 1 to 31

Deceleration ramps

The following has to be observed for using the fixed command values:

The function for selecting the acceleration and deceleration ramp pitches
P-0-1223 and P-0-1224 only takes effect in the "velocity control" mode.

The unit of P-0-1223 and P-0-1224 corresponds to the setting made in


S-0-0160 (acceleration data scaling type).

When setting P-0-1200, bit 0-4 = 0, the ramp pitches set in P-0-1201,
P-0-1202, P-0-1203, P-0-1211, P-0-1213 become active.

Parameter "P-0-1214, Control word 2 velocity control", bit 10, 9 deter


mines whether the control bits 0...4 in P-0-1200 only select fixed command
values, only ramp pitches and filter time constants or both.

See also Parameter Description "P-0-1200, Control word 1 velocity control"


See also Parameter Description "P-0-1206, Memory of velocity command val
ues"
See also Parameter Description "P-0-1214, Control word 2 velocity control"
See also Parameter Description "P-0-1225, List of smoothing time constants"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 627/1033


and Controls

Product-Specific Parameters
P-0-1224 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Extr. val. ch.:

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.8.37

Data length:
Format:

4Byte var.
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

P-0-1225, List of smoothing time constants


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This list parameter is used as memory for velocity command value filter time
constants for jerk limitation in the "velocity control" mode. The individual values
can be selected via the control word P01200.
See also Functional Description "Velocity Control"

Structure

P-0-1225

Significance

element 1 to 31

velocity command value filter time constant 1 to 31

Fig.4-187:
Use

Filter time constants

The following has to be observed for using the fixed command values:

The function for selecting the velocity command value filter time constants
P-0-1225 only takes effect in the "velocity control" mode.

With the setting P-0-1200, bit 0-4 = 0, the velocity command value filter
time constant defined by P-0-1222 becomes active.

Parameter "P-0-1214, Control word 2 velocity control", bit 10, 9 deter


mines whether the control bits 0...4 in P-0-1200 only select fixed command
values, only ramp pitches and filter time constants or both.

See also Parameter Description "P-0-1200, Control word 1 velocity control"


See also Parameter Description "P-0-1206, Memory of velocity command val
ues"
See also Parameter Description "P-0-1214, Control word 2 velocity control"
See also Parameter Description "P-0-1223, List of acceleration ramps"
P-0-1225 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
0 / 10000
0 / 10000
0 / 10000

Data length: 2Byte var.


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

628/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.8.38

P-0-1270, PLC Global Register A0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

Access via "parameters for general purpose" (global registers) can be used for
data exchange of MLD with a neighboring drive (as of MP*04VRS via CCD) or
a higher-level control unit or an external operator terminal (e.g. BTV).
The global registers (G0...G31 or A0...A31) do not have any direct
influence on the drive, but only take effect in conjunction with MLD.

Use

The following has to be observed for usage:

The display format for this parameter can be individually adjusted with
"P01386, PLC display format Global Register".

The content of this parameter is lost in case the control voltage fails.
Therefore, the parameter can be used for cyclic communication with ex
ternal devices (similar to the process image [PII, POI]).

In contrast to the PII/POI, access to the global registers does not take
place automatically at the beginning of the task or at the end, but by access
to specific parameters, if required (e.g. by means of MX_ReadParam).

Apart from P-0-1270, there are the following global registers available:

G0 ... G15: P-0-1370 P-0-1385

G16 ... G31: P-0-1316 P-0-1331 (as of MP*05VRS)

A1 ... A31: P-0-1271 P-0-1301 (as of MP*05VRS)

See also Application Manual "Rexroth IndraMotion MLD"


P-0-1270 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.39

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1271, PLC Global Register A1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1271 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Data length:
Format:

4Byte
DEC_MV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 629/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: AT + MDT

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.8.40

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1272, PLC Global Register A2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1272 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.41

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1273, PLC Global Register A3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1273 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.42

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1274, PLC Global Register A4


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
MPB

-
-
-
MPH

-
-
-
-

630/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-motion logic

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1274 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.43

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1275, PLC Global Register A5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1275 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.44

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1276, PLC Global Register A6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1276 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 631/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.8.45

--- / ----- / ---

-----

P-0-1277, PLC Global Register A7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1277 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.46

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1278, PLC Global Register A8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1278 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.47

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1279, PLC Global Register A9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"

-
-
-
-

632/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1279 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.48

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1280, PLC Global Register A10


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1280 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.49

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1281, PLC Global Register A11


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1281 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 633/1033


and Controls

Product-Specific Parameters

4.8.50

P-0-1282, PLC Global Register A12


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1282 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.51

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1283, PLC Global Register A13


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1283 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.52

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1284, PLC Global Register A14


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

-
-
-
-

634/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-1284 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.53

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1285, PLC Global Register A15


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1285 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.54

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1286, PLC Global Register A16


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1286 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 635/1033


and Controls

Product-Specific Parameters

4.8.55

P-0-1287, PLC Global Register A17


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1287 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.56

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1288, PLC Global Register A18


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1288 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.57

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1289, PLC Global Register A19


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

-
-
-
-

636/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-1289 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.58

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1290, PLC Global Register A20


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1290 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.59

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1291, PLC Global Register A21


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1291 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 637/1033


and Controls

Product-Specific Parameters

4.8.60

P-0-1292, PLC Global Register A22


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1292 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.61

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1293, PLC Global Register A23


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1293 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.62

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1294, PLC Global Register A24


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

-
-
-
-

638/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-1294 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.63

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1295, PLC Global Register A25


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1295 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.64

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1296, PLC Global Register A26


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1296 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 639/1033


and Controls

Product-Specific Parameters

4.8.65

P-0-1297, PLC Global Register A27


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1297 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.66

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1298, PLC Global Register A28


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1298 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.8.67

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1299, PLC Global Register A29


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

-
-
-
-

640/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-1299 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.9

P-0-1300 - P-0-1499 Drive-Integrated PLC

4.9.1

P-0-1300, PLC Global Register A30


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1300 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.2

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1301, PLC Global Register A31


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1301 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 641/1033


and Controls

Product-Specific Parameters

4.9.3

P-0-1311, PLC Global Register GL1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

This parameter is a list register with 1024 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.
The display format for this parameter can be individually adjusted with param
eter "P01386, PLC display format Global Register".
The data length of P01311 is fixed to 4 bytes and cannot be
changed. The content of P-0-1311 is backed up in case control
voltage fails.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1311 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
FIX_IDN_SP Validity ch.:
-Extr. val. ch.:
AT + MDT Comb. check:

Input
MPB:
MPD:
MPH:

4.9.4

PM+OM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1312, PLC Global Register GL2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

This parameter is a list register with 1024 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.
The display format for this parameter can be individually adjusted with param
eter "P01386, PLC display format Global Register".
The data length of P01312 is fixed to 4 bytes and cannot be
changed. The content of P-0-1312 is backed up in case control
voltage fails.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1312 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
FIX_IDN_SP Validity ch.:
-Extr. val. ch.:
AT + MDT Comb. check:

PM+OM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

642/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.9.5

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1316, PLC Global Register G16


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1316 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.6

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1317, PLC Global Register G17


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1317 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.7

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1318, PLC Global Register G18


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

See also "P-0-1270, PLC Global Register A0"

-
-
-
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 643/1033


and Controls

Product-Specific Parameters
See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1318 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.8

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1319, PLC Global Register G19


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1319 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.9

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1320, PLC Global Register G20


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1320 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

644/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.9.10

P-0-1321, PLC Global Register G21


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1321 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.11

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1322, PLC Global Register G22


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1322 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.12

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1323, PLC Global Register G23


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 645/1033


and Controls

Product-Specific Parameters
P-0-1323 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.13

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1324, PLC Global Register G24


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1324 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.14

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1325, PLC Global Register G25


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1325 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

646/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.9.15

P-0-1326, PLC Global Register G26


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1326 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.16

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1327, PLC Global Register G27


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1327 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.17

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1328, PLC Global Register G28


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 647/1033


and Controls

Product-Specific Parameters
P-0-1328 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.18

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1329, PLC Global Register G29


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1329 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.19

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1330, PLC Global Register G30


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1330 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

648/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.9.20

P-0-1331, PLC Global Register G31


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-motion logic

-
-
-
MPH

-
-
-
-

See also "P-0-1270, PLC Global Register A0"


See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1331 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.21

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1350, PLC control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

16-bit control parameter for controlling the drive-integrated PLC (MLD).


With a positive edge the bits activate the corresponding process. By the onlinewrite 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 several
edges have been activated, they are processed one after the other from MSB
to LSB.
The end of the actions can be identified in "P01351, PLC status word".
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

Structure

Bit

Designation/function

RUN
The PLC is put into the status RUN. Only works if a project
was loaded. The status goes to RUN.

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.

not used

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 649/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

not used

RESET hot

Comment

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.

RESET hard
All data of the PLC are cleared. The boot project thereby
is cleared, too.

reload boot project


The boot project in loaded.
The PLC remains in STOP.

15-8

not used

Fig.4-188:
P-0-1350 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

PLC control word


Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.22

PM+OM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1351, PLC status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

This parameter can only be read.


16-bit status parameter of the drive-integrated PLC (MLD)
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

Structure

Bit

Designation/function

RUN
The PLC is in the status RUN.

breakpoint
The PLC is at a breakpoint (with !RUN).

not used

Comment

650/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

Comment

runtime error

as of MPx03VRS

The PLC has a runtime error (e.g. watchdog, division by


0 etc.)
4

project loaded
A project was loaded (in RAM).

not used

Indicates whether the PLC is presently having temporary


control

15-9

not used

Fig.4-189:
P-0-1351 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

PLC status word


Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.23

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1352, PLC user program administration data


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

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:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.24

PM
PM->OM
---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1353, PLC user program area 0


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

MPH
MPH
MPH
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 651/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-motion logic

The PLC boot project is stored in the parameters P01353 - P01358.


These parameters are administrated by the system and cannot be
changed by the user.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1353 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
SPS_IDN_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.9.25

PM
PM->OM
---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1354, PLC user program area 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

The PLC boot project is stored in the parameters P01353 to P01358.


These parameters are administrated by the system and cannot be
changed by the user.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1354 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
SPS_IDN_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.9.26

PM
PM->OM
---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1355, PLC user program area 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

The PLC boot project is stored in the parameters P01353 to P01358.

652/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
These parameters are administrated by the system and cannot be
changed by the user.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1355 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
SPS_IDN_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.9.27

PM
PM->OM
---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1356, PLC user program area 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

The PLC boot project is stored in the parameters P01353 to P01358.


These parameters are administrated by the system and cannot be
changed by the user.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1356 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
SPS_IDN_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.9.28

PM
PM->OM
---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1357, PLC user program area 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

-
MPH
MPH
MPH

-
-
-
-

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-0-1357 - Attributes

Function: Par
Editability:
Memory: SPS_IDN_SPValidity ch.:

PM
PM->OM

Data length:
Format:

4Byte var.
HEX

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 653/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.9.29

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1358, PLC user program area 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

-
MPH
MPH
MPH

-
-
-
-

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:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
SPS_IDN_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.9.30

PM
PM->OM
---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1359, PLC retain data


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

When a PLC program with retain data is used, the retain data can be saved by
means of this list parameter and transmitted to other drives.
See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

Use

Observe the following aspects for usage:

This parameter does not show the structure of the individual retain varia
bles.

Reading and writing data from/to P-0-1359 mustn't take place while the
PLC is running, because these processes directly write data to the working
memory of the PLC or read data from the working memory. This would
cause inconsistent data.

The retain data are always initialized, when the drive detects that a boot
project was changed. When a new boot project is loaded together with
P-0-1359, the drive must be switched off afterwards so that it does not
detect the change of the boot project.

654/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

P-0-1359 - Attributes

The parameter is not contained in the list "S-0-0192, IDN-list of backup


operation data", as otherwise loading a drive parameter backup would
overwrite the PLC retain data.

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
RETAIN_KUNDEValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.9.31

PM
PM->OM
---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1360, PLC program identifier


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

List parameter with 2 unsigned longs.


Element

Significance

#0

Date: Compile time of the program (time_t). If there hasn't been any
program loaded, "0" is contained here. After Reset hard the old data is
still contained here.

#1

PID: unequivocal program identifier


If there hasn't been any program loaded, "0" is contained here.

Fig.4-190:
P-0-1360 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

PLC program identifier


Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.32

nein
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1361, PLC program name


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

This parameter contains the file name of the current project. The name is as
signed to the project during compilation from the project name in Codesys.
After Reset HARD the old name is still contained here.

P-0-1361 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Data length:
Format:

1Byte var.
ASCII

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 655/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.9.33

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1362, PLC boot project info


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

-
MPH
MPH
MPH

-
-
-
-

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.

Reading the parameter allows clearly identifying the present PLC boot project.
Maximum and actual length of the list parameter always are 322
elements with 4 Bytes each!
Use

Element

Significance

time stamp of PLC boot project in time_t format (seconds since


19700101); 0 = no project existing

Project ID
The project ID in the case of a new loaded boot project is only filled after
switching on again or when the boot project is activated. Directly after
loading, the project ID first contains "0".
The length is always constant and the space for strings is completely
filled with 0-characters (1).

2..17

project name (file name)

18..33

project designation

34..49

project version

50..65

author

66..321

Data writing (multiple-line) - max. 1024 characters incl. 0-character.

Fig.4-191:

PLC boot project info

If no boot project is existing, all elements contain "0".


P-0-1362 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
---

656/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.9.34

--- / ----- / ---

-----

P-0-1363, PLC project info


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

-
MPH
MPH
MPH

-
-
-
-

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 proj
ect.
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.
Use

Element

Significance

time stamp of PLC project in time_t format (seconds since 19700101);


0 = no project existing

Project ID
The length is always constant and the space for strings is completely
filled with 0-characters (1).

2..17

project name (file name)

18..33

project designation

34..49

project version

50..65

author

66..321

Data writing (multiple-line) - max. 1024 characters incl. 0-character.

Fig.4-192:

PLC project info

If no PLC project is existing, all elements contain "0".


P-0-1363 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.9.35

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1364, PLC idle time


Allocation

Contained in 02VRS:
Contained in 03VRS:

-
-

-
-

-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 657/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPB
-motion logic

MPH
MPH

-
-

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:
Memory:
Unit:
Cycl. tra.:

Par
-us
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.36

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1365, PLC error message


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

For diagnostic purposes, this parameter displays the current error status of the
PLC runtime system.
Example
Id:00000017 Time:00000005; Par:FFFFFFFF; Text:Too few memory for code
on controller!; Task = UNKNOWN
Message in IndraLogic
Cause
Remedy
Watchdog expired %s - reset Runtime error in PLC pro Remove error by program
PLC to continue
gram. Runtime monitor
modification
(watchdog) for a task has (correct possibly existing in
been activated. In this task, finite loop)
processing was not comple
ted in the preset time
Too few memory for code on PLC project too big for mem Reduce project size or use
controller!
ory
control section with bigger
code memory
Boot project not loaded and Boot project could not be loa Recreate project with corre
deleted
ded, as it is incompatible with sponding target
firmware
Retain memory corrupt or Corrupt retain data were de Store P-0-1359 again and re
cannot be mapped
tected
load project. If error occurs
repeatedly, replace control
(as of MPx05V08)
section or drive controller
Array lower bounds violation Array limits exceeded
Modify PLC program: check
- %s (see also call stack
and correct array access
menu) - RESET to continue
Division by zero - %s (see al Division by "0"
Modify PLC program: re
so call stack menu) - RESET
move division by "0"
to continue

658/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Lower range bounds (*) vio A subrange type has been Modify PLC program: elimi
lation - %s (see also call
exceeded
nate incorrect assignment
stack menu) - RESET to con
tinue
Invalid pointer access (ad Invalid access with a pointer Modify PLC program: elimi
dress), %s (see also call
in PLC program. As of
nate incorrect assignment
stack menu) - RESET to con MPx05, every access with
tinue
pointer is monitored. Access
outside of PLC data ranges
cause this error
Invalid pointer access (area), Invalid access with a pointer Modify PLC program: elimi
%s (see also call stack
in PLC program. As of
nate incorrect assignment
menu) - RESET to continue MPx05, every access with
pointer is monitored. Access
outside of PLC data ranges
cause this error
Invalid pointer access (Write Invalid access with a pointer Modify PLC program: elimi
access on input), %s (see al in PLC program. As of
nate incorrect assignment
so call stack menu) - RESET MPx05, every access with
to continue
pointer is monitored. Access
outside of PLC data ranges
cause this error
Invalid pointer access (Align Invalid access with a pointer Modify PLC program: elimi
ment), %s (see also call
in PLC program. As of
nate incorrect assignment
stack menu) - RESET to con MPx05, every access with
tinue
pointer is monitored. Access
outside of PLC data ranges
cause this error
Error loading symbols - se Memory insufficient for se Reduce number of symbols
lect / reduce symbols!
lected symbols
or use control section with
bigger project memory
Not enough memory for per Not enough memory for per Reduce number of persistent
sistent variables - please re sistent variables
variables or use control sec
duce variables!
tion with bigger project mem
ory
Callback function has false Error in system event
Modify PLC program: modify
parameters or local variables
incorrect use or program
ming on this topic, see
notes in task configuration
Called unallowed POU from Error in system event
Modify PLC program: modify
callback function
incorrect use or program
ming on this topic, see
notes in task configuration
System event not provided Error in system event
Modify PLC program: modify
by this hardware
incorrect use or program
ming on this topic, see
notes in task configuration
System event needs function Error in system event
Modify PLC program: modify
named "callback..."
incorrect use or program
ming on this topic, see
notes in task configuration

Fig.4-193:
P-0-1365 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

PLC error message


Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 659/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.9.37

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1367, PLC configuration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

Parameter for configuring the basic behavior of the integrated PLC (LDC).
See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

Structure

Bit

Designation/function

1,0

start behavior of PLC


00: Default start behavior: The PLC starts in boot 2.9, if it
was in RUN at the time the drive was switched off. Oth
erwise it remains in STOP.
01: Start when booting: The PLC starts in boot 2.9, inde
pendent of the last status (goes to RUN).
10: Stop: The PLC remains in the status STOP.
11: Start in operating mode: The PLC starts automatically
during transition to the operating mode.
Attention: The PLC no longer starts automatically when
switching to operating mode, if a new program is loaded
before (in parameter mode), start/stop or a reset is carried
out.

3,2

reserved

permanent control
0: PLC has no control
1: PLC has permanent control over the drive. (ON, HALT,
operating mode selection)
Attention: The primary mode of operation and the secon
dary oper. modes 1-6 are automatically configured. If a
field bus is used, the profile FFFD must be set in the field
bus and the parameters of the operating modes of PLC
motion function blocks mustn't be cyclically configured.

reserved

The global structure AxisData is supported.


Attention: The structure always exists, but the data are
only transmitted, when this bit is "1".

Comment

660/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

Comment

Behavior when motion function blocks with faulty param


eters are called (such as "MC_MoveAbsolute" while
"MC_Stop" is active).
0: axis error F2150 is generated (or F2140 with MLD-M
and function block error on slave)
1: no axis error is generated

For CSH1.2 and MMC, setting this bit activates the mem as of MPx05V06
ory extension of MLD: The storage location for the boot
project is changed from "PLC program parameters" to
"system file on MMC". This setting only becomes active
after the drive has been switched on the next time. Upon
activation it is necessary to load the boot project again.
(Boot projects are not automatically copied or deleted!)

31...9 reserved do not use

Fig.4-194:
P-0-1367 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-1367, PLC configuration


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.38

PM
PM->OM
---

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0x0080
0x0080
0x0080

P-0-1368, PLC Global Register AL0


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

-
MPH
MPH
MPH

-
-
-
-

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
"P01386, PLC display format Global Register".
The data length of P01368 is 4 bytes and cannot be changed. The
content of P01368 is not backed up in case control voltage fails.
For non-volatile data use P01389!
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1368 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 661/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.9.39

min./max.
--- / ----- / ----- / ---

P-0-1369, PLC internally reserved


Allocation

Function
P-0-1369 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

For internal use only.


Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.40

Default value
-------

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1370, PLC Global Register G0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

Access via "parameters for general purpose" (global registers) can be used for
data exchange of MLD with a neighboring drive (as of MP*04VRS via CCD) or
a higher-level control unit or an external operator terminal (e.g. BTV).
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

Structure
Use

Single parameter / register with 4 bytes (32 bits)


The following has to be observed for usage:

The global registers (G0...G32, A0...A31 or AT0, AT1) do not have any
direct influence on the drive, but only take effect in conjunction with MLD.

The display format for this parameter can be individually adjusted with
"P01386, PLC display format Global Register".

The content of this parameter is backed up in case control voltage fails;


this is why you should make those settings by means of the global regis
ters which do not take place cyclically. Cyclic data to external devices are
usually carried out with the process image (PII, POI).

In contrast to the PII/POI, access to the global registers does not take
place automatically at the beginning of the task or at the end, but by access
to specific parameters, if required (e.g. by means of MX_ReadParam).

Apart from P-0-1370, there are the following global registers available:

G1 ... G15: P-0-1371 P-0-1385

G16 ... G31: P-0-1316 P-0-1331 (as of MP*05VRS)

662/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

P-0-1370 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

A0 ... A31: P-0-1270 P-0-1301 (as of MP*05VRS)


Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.41

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1371, PLC Global Register G1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

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 "P01386, 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:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.42

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1372, PLC Global Register G2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

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 "P01386, 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
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte
DEC_MV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 663/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: AT + MDT

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.9.43

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1373, PLC Global Register G3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

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 "P01386, 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:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.44

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1374, PLC Global Register G4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

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
"P01386, 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-0-1374 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
0

664/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.9.45

--- / ----- / ---

0
0

P-0-1375, PLC Global Register G5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1370, PLC Global Register G0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1375 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.46

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1376, PLC Global Register G6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1370, PLC Global Register G0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1376 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.47

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1377, PLC Global Register G7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

See also "P-0-1370, PLC Global Register G0"

MPH
MPH
MPH
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 665/1033


and Controls

Product-Specific Parameters
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1377 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.48

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1378, PLC Global Register G8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1370, PLC Global Register G0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1378 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.49

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1379, PLC Global Register G9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1370, PLC Global Register G0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1379 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
0

666/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.9.50

--- / ----- / ---

0
0

P-0-1380, PLC Global Register G10


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1370, PLC Global Register G0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1380 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.51

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1381, PLC Global Register G11


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1370, PLC Global Register G0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1381 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.52

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1382, PLC Global Register G12


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

See also "P-0-1370, PLC Global Register G0"

MPH
MPH
MPH
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 667/1033


and Controls

Product-Specific Parameters
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1382 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.53

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1383, PLC Global Register G13


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1370, PLC Global Register G0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1383 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.54

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1384, PLC Global Register G14


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1370, PLC Global Register G0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1384 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
-AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
0

668/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.9.55

--- / ----- / ---

0
0

P-0-1385, PLC Global Register G15


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1370, PLC Global Register G0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1385 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.9.56

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1386, PLC display format Global Register


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

This list parameter is used to set the display format for the "PLC Global Reg
isters".

The global registers G0...G15 (cf. P-0-1370...P-0-1385); the first list ele
ment of P01386 influences P01370, the second list element influences
P01371 etc.

The global list registers GL1 and GL2 (cf. P-0-1389 and P-0-1368); the list
elements 17 and 18 of P01386 define the display format for both lists.

Each element of the list has the following structure:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 669/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

3-0

data length

Comment

0: 4 bytes
1: 2 bytes (only possible with MPH02)
7-4

display format
0: BIN
1: signed DEC
2: unsigned DEC
3: HEX
4: FLOAT

11-8

number of decimal places


0 to 7 decimal places

Fig.4-195:

P-0-1386, PLC display format Global Register

The data length of P01389 is 4 bytes and cannot be changed.


P-0-1386 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.57

PM+OM
PM->OM
---

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1387, PLC Global Register AT0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

Freely usable text parameter with a maximum of 255 characters plus terminat
ing 0-character. It is used for data exchange of the integrated PLC with the drive
or a higher-level PLC or control unit.
The content of this parameter is not backed up in case control volt
age fails.
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1387 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

670/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.9.58

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1388, PLC Global Register AT1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

Freely usable text parameter with a maximum of 255 characters plus terminat
ing 0-character. It is used for data exchange of the integrated PLC with the drive
or a higher-level PLC or control unit.
The content of this parameter is not backed up in case control volt
age fails.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1388 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.59

PM+OM
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1389, PLC Global Register GL0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

-
MPH
MPH
MPH

-
-
-
-

This parameter is a list register with 1024 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.
The display format for this parameter can be individually adjusted with
"P01386, PLC display format Global Register".
The data length of P01389 is fixed to 4 bytes and cannot be
changed. The content of this parameter is buffered in case the con
trol voltage fails.
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1389 - Attributes

Function: Par
Editability:
Memory: FIX_IDN_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte var.
DEC_MV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 671/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: AT + MDT

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.9.60

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1390, PLC input WORD0 AT %IB0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows evaluating and addressing digital and
analog inputs/outputs. In this context, this parameter is used for display and for
transporting the inputs to the process image of the inputs (PII) in MLD.
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

Use

Fig.4-196:

PII - PLC inputs

The following has to be observed for usage:

This parameter contains the process image of a PLC input (PII) and there
fore is not backed up, which means that its content gets lost in case voltage
fails.

It contains 16 bits and is assigned to the hardware in the corresponding


dialog (e.g. "X31/32") of the commissioning software (e.g. IndraWorks).

At the beginning of the task, the PLC (IndraMotion MLD) reads the values
of the hardware to the parameter (the PII).

To connect the input, the corresponding assignment of the IDN (e.g.


P01390) to a digital input of "X31/32" is required.

672/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

P-0-1390 - Attributes

Apart from P-0-1390, there are the following input registers available:

32 bits: P-0-1440 - P-0-1447

16 bits: P-0-1391 - P-0-1397, P-0-1398 - P-0-1409 (as of MP*04VRS)

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.61

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1391, PLC input WORD1 AT %IB2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1390, PLC input WORD0 AT %IB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1391 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.62

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1392, PLC input WORD2 AT %IB4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1390, PLC input WORD0 AT %IB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1392 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ---

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 673/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.9.63

--- / ----- / ---

-----

P-0-1393, PLC input WORD3 AT %IB6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1390, PLC input WORD0 AT %IB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1393 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.64

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1394, PLC input WORD4 AT %IB8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1390, PLC input WORD0 AT %IB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1394 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.65

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1395, PLC input WORD5 AT %IB10


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

See also "P-0-1390, PLC input WORD0 AT %IB0"

-
-
-
-

674/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1395 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.66

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1396, PLC input WORD6 AT %IB12


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1390, PLC input WORD0 AT %IB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1396 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.67

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1397, PLC input WORD7 AT %IB14


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1390, PLC input WORD0 AT %IB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1397 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ---

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 675/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.9.68

--- / ----- / ---

-----

P-0-1398, PLC input WORD8 AT %IB16


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

See also "P-0-1390, PLC input WORD0 AT %IB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1398 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.69

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1399, PLC input WORD9 AT %IB18


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

See also "P-0-1390, PLC input WORD0 AT %IB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1399 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.70

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1400, PLC input WORD10 AT %IB20


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

676/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

Parameter for the PLC input image. The parameter contains the process image
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. In
draWorks). 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:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.71

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1401, PLC input WORD11 AT %IB22


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

Parameter for the PLC input image. The parameter contains the process image
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. In
draWorks). 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:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.72

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1402, PLC input WORD12 AT %IB24


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

Parameter for the PLC input image. The parameter contains the process image
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. In
draWorks). At the beginning of the task the PLC reads the values from this
parameter to the input process image.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 677/1033


and Controls

Product-Specific Parameters
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1402 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.73

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1403, PLC input WORD13 AT %IB26


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

Parameter for the PLC input image. The parameter contains the process image
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. In
draWorks). 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:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.74

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1404, PLC input WORD14 AT %IB28


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

Parameter for the PLC input image. The parameter contains the process image
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. In
draWorks). 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
Memory: --

Editability:
Validity ch.:

P234
--

Data length:
Format:

2Byte
DEC_MV

678/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: AT + MDT
Input
MPB:
MPD:
MPH:

4.9.75

Extr. val. ch.: -Comb. check: --

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1405, PLC input WORD15 AT %IB30


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

Parameter for the PLC input image. The parameter contains the process image
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. In
draWorks). 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:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.76

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1406, PLC input WORD16 AT %IB32


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

Parameter for the PLC input image. The parameter contains the process image
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. In
draWorks). 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:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

min./max.
--- / ---

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 679/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.9.77

--- / ----- / ---

-----

P-0-1407, PLC input WORD17 AT %IB34


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

Parameter for the PLC input image. The parameter contains the process image
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. In
draWorks). 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:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.78

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1408, PLC input WORD18 AT %IB36


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

See also "P-0-1390, PLC input WORD0 AT %IB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1408 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.79

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1409, PLC input WORD19 AT %IB38


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
MPB
MPB

-
-
MPH
MPH

-
-
-
-

680/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-motion logic

See also "P-0-1390, PLC input WORD0 AT %IB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1409 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.80

P234
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1410, PLC output WORD0 AT %QB0


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows evaluating and addressing digital and
analog inputs/outputs. In this context, this parameter is used for display and for
transporting the data from the process image (POI) to the outputs.
See also Application Manual "Rexroth IndraMotion MLD"

Use

Fig.4-197:

POI - PLC outputs

The following has to be observed for usage:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 681/1033


and Controls

Product-Specific Parameters

This parameter contains the process image of a PLC output (POI) and
therefore is not backed up, which means that its content gets lost in case
voltage fails.

It contains 16 bits and is assigned to the hardware in the corresponding


dialog (e.g. "X31/32") of the commissioning software (e.g. IndraWorks), or
directly read by the master communication (possibly via the serial inter
face).

At the end of the task, the PLC (IndraMotion MLD) writes the values from
the POI to the hardware.

To connect the output, the corresponding assignment of the IDN (e.g.


P01410) to a digital output of "X31/32" is required.

Apart from P-0-1410, there are the following input registers available:

16 bits: P-0-1411 P-0-1417


P-0-1418 P-0-1429 (as of MP*04VRS)

P-0-1410 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.81

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1411, PLC output WORD1 AT %QB2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1410, PLC output WORD0 AT %QB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1411 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.82

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1412, PLC output WORD2 AT %QB4


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

682/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

See also "P-0-1410, PLC output WORD0 AT %QB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1412 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.83

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1413, PLC output WORD3 AT %QB6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1410, PLC output WORD0 AT %QB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1413 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.84

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1414, PLC output WORD4 AT %QB8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1410, PLC output WORD0 AT %QB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1414 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 683/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.9.85

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1415, PLC output WORD5 AT %QB10


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1410, PLC output WORD0 AT %QB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1415 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.86

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1416, PLC output WORD6 AT %QB12


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-motion logic

MPH
MPH
MPH
MPH

-
-
-
-

See also "P-0-1410, PLC output WORD0 AT %QB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1416 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.87

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1417, PLC output WORD7 AT %QB14


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

MPH
MPH
MPH
MPH

-
-
-
-

684/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-motion logic

See also "P-0-1410, PLC output WORD0 AT %QB0"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1417 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.88

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1418, PLC output WORD8 AT %QB16


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows evaluating and addressing digital and
analog inputs/outputs. In this context, this parameter is used for display and for
transporting the data from the process image (POI) to the outputs.
See also Application Manual "Rexroth IndraMotion MLD"

Use

Fig.4-198:

POI - PLC outputs

The following has to be observed for usage:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 685/1033


and Controls

Product-Specific Parameters

This parameter contains the process image of a PLC output (POI) and
therefore is not backed up, which means that its content gets lost in case
voltage fails.

It contains 16 bits and is assigned to the hardware in the corresponding


dialog (e.g. "X31/32") of the commissioning software (e.g. IndraWorks), or
directly read by the master communication (possibly via the serial inter
face).

At the end of the task, the PLC (IndraMotion MLD) writes the values from
the POI to the hardware.

To connect the output, the corresponding assignment of the IDN (e.g.


P01410) to a digital output of "X31/32" is required.

Apart from P-0-1410, there are the following input registers available:

16 bits: P-0-1411 P-0-1417


P-0-1418 P-0-1429 (as of MP*04VRS)

P-0-1418 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.89

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1419, PLC output WORD9 AT %QB18


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1419 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.90

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1420, PLC output WORD10 AT %QB20


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
MPB
MPB

-
-
MPH
MPH

-
-
-
-

686/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-motion logic

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1420 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.91

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1421, PLC output WORD11 AT %QB22


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1421 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.92

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1422, PLC output WORD12 AT %QB24


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 687/1033


and Controls

Product-Specific Parameters
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1422 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.93

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1423, PLC output WORD13 AT %QB26


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1423 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.94

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1424, PLC output WORD14 AT %QB28


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1424 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

688/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.9.95

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1425, PLC output WORD15 AT %QB30


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1425 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.96

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1426, PLC output WORD16 AT %QB32


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1426 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 689/1033


and Controls

Product-Specific Parameters

4.9.97

P-0-1427, PLC output WORD17 AT %QB34


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1427 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.98

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1428, PLC output WORD18 AT %QB36


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1428 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.99

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1429, PLC output WORD19 AT %QB38


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
MPB
MPB

-
-
MPH
MPH

-
-
-
-

690/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-motion logic

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 parameter.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1429 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.100

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1440, PLC input DWORD25 AT %IB100


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows evaluating and addressing digital and
analog inputs/outputs. In this context, this parameter is used for display and for
accessing the process image of the inputs (PII) in MLD.
See also Application Manual "Rexroth IndraMotion MLD"

Fig.4-199:
Use

-
-
-
-

PII - PLC inputs

The following has to be observed for usage:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 691/1033


and Controls

Product-Specific Parameters

P-0-1440 - Attributes

This parameter contains the process image of a PLC input (PII) and there
fore is not backed up, which means that its content gets lost in case voltage
fails.

It contains 32 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 (IndraMotion MLD) reads the values
to the PII.

To write the input, the corresponding assignment of the IDN (e.g. P01390
to a digital input of "X31/32") is required.

Apart from P-0-1440, there are the following input registers available:

32 bits: P-0-1441- P-0-1447

16 bits: P-0-1390 - P-0-1397, P-0-1398 - P-0-1409 (as of MP*04VRS)

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.101

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1441, PLC input DWORD26 AT %IB104


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

See also "P-0-1440, PLC input DWORD25 AT %IB100"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1441 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.102

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1442, PLC input DWORD27 AT %IB108


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

See also "P-0-1440, PLC input DWORD25 AT %IB100"

-
-
-
-

692/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1442 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.103

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1443, PLC input DWORD28 AT %IB112


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

See also "P-0-1440, PLC input DWORD25 AT %IB100"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1443 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.104

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1444, PLC input DWORD29 AT %IB116


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

See also "P-0-1440, PLC input DWORD25 AT %IB100"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1444 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 693/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.9.105

--- / ----- / ---

-----

P-0-1445, PLC input DWORD30 AT %IB120


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

See also "P-0-1440, PLC input DWORD25 AT %IB100"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1445 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.106

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1446, PLC input DWORD31 AT %IB124


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

See also "P-0-1440, PLC input DWORD25 AT %IB100"


See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1446 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.107

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1447, PLC input DWORD32 AT %IB128


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

See also "P-0-1440, PLC input DWORD25 AT %IB100"

-
-
-
-

694/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"
P-0-1447 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.9.108

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1449, C4900 PLC command


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-motion logic

-
-
MPH
MPH

-
-
-
-

With this parameter a PLC program can be controlled via the standardized
command mechanisms.
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1449 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.9.109

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1450, PLC/setting-up mode, positioning command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

This parameter is used to internally input a positioning command value for drivecontrolled positioning via the IndraMotion MLD.
The parameter can only be written via the IndraMotion MLD. Ex
ternally, that is via the master communication, it can only be read!
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 695/1033


and Controls

Product-Specific Parameters
Use

Regarding its function, the parameter "P01450, PLC Positioning command


value" corresponds to parameter "S00282, Positioning command value" the
operating principle of which is explained in the Functional Description.
See also Application Manual "Rexroth IndraMotion MLD"

Record of Modifications

P-0-1450 - Attributes

Version
up to MPx04VRS
up to MPx04VRS
Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.9.110

Attribute
Cycl. tra.: AT
Editability: no

Comb. check: --

Comment

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1451, PLC/setting-up mode, positioning velocity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

This parameter is used to internally input a positioning velocity for drive-con


trolled positioning via the IndraMotion MLD.
The parameter can only be written via the IndraMotion MLD. Ex
ternally, that is via the master communication, it can only be read!
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"

Use

Regarding its function, the parameter "P01451, PLC Positioning velocity" cor
responds to parameter "S00259, Positioning velocity" the operating principle
of which is explained in the Functional Description.
See also Application Manual "Rexroth IndraMotion MLD"

Record of Modifications

P-0-1451 - Attributes

Version

Attribute

Comment

up to MPx04VRS

MPx Default value: --

up to MPx04VRS

Cycl. tra.: AT

up to MPx04VRS

Editablity: no

up to MPx04VRS

Memory: --

up to MPx04VRS

Validity ch.: no

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: AT + MDT

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

696/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.9.111

min./max.
--- / ----- / ----- / ---

Default value
0,0000
0,0000
0,0000

P-0-1452, PLC/setting-up mode, positioning acceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

This parameter is used to internally input a positioning acceleration for drivecontrolled positioning via the IndraMotion MLD.
The parameter can only be written via the IndraMotion MLD. Ex
ternally, that is via the master communication, it can only be read!
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"

Use

Regarding its function, the parameter "P01452, PLC Positioning acceleration"


corresponds to parameter "S00260, Positioning acceleration" the operating
principle of which is explained in the Functional Description.
See also Application Manual "Rexroth IndraMotion MLD"

Record of Modifications

P-0-1452 - Attributes

Version

Attribute

up to MPx04VRS

MPx Default value: --

up to MPx04VRS

Cycl. tra.: AT

up to MPx04VRS

Editability: no

up to MPx04VRS

Memory: --

up to MPx04VRS

Validity ch.: no

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0160

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.9.112

Comment

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0,000
0,000
0,000

P-0-1453, PLC/setting-up mode, positioning deceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

This parameter is used to internally input a positioning deceleration for drivecontrolled positioning via the IndraMotion MLD.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 697/1033


and Controls

Product-Specific Parameters
The parameter can only be written via the IndraMotion MLD. Ex
ternally, that is via the master communication, it can only be read!
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
Use

Regarding its function, the parameter "P01453, PLC Positioning deceleration"


corresponds to parameter "S00359, Positioning deceleration" the operating
principle of which is explained in the Functional Description.
See also Application Manual "Rexroth IndraMotion MLD"

Record of Modifications

P-0-1453 - Attributes

Version

Attribute

up to MPx04VRS

MPx Default value: --

up to MPx04VRS

Cycl. tra.: AT

up to MPx04VRS

Editability: no

up to MPx04VRS

Memory: --

up to MPx04VRS

Validity ch.: no

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0160

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.9.113

Comment

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0,000
0,000
0,000

P-0-1454, PLC/setting-up mode, positioning command value accept


ance
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

This parameter is used to internally control the positioning process (e.g. starting
the positioning) for drive-controlled positioning via the IndraMotion MLD.
The parameter can only be written via the IndraMotion MLD. Ex
ternally, that is via the master communication, it can only be read!
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"

Use

Regarding its function, the parameter "P01454, PLC Positioning command


value acceptance" corresponds to parameter "S00259, Positioning control
word" the operating principle of which is explained in the Functional Description.
See also Application Manual "Rexroth IndraMotion MLD"

Record of Modifications

698/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

P-0-1454 - Attributes

Version

Attribute

up to MPx04VRS

Cycl. tra.: AT

up to MPx04VRS

Editability: no

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.9.114

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Comment

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1455, PLC positioning command value acknowledge


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

-
-
-
MPD

This parameter is used to internally analyze a positioning process for drivecontrolled positioning via the IndraMotion MLD.
See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"

Use

Regarding its function, the parameter "P01455, PLC positioning command


value acknowledge" corresponds to parameter "S00419, Positioning com
mand acknowledge" the operating principle of which is explained in detail in the
Functional Description.
See also Application Manual "Rexroth IndraMotion MLD"

P-0-1455 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.9.115

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1460, PLC/setting-up mode, velocity command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter is used to internally input a velocity command value in velocity


control via the IndraMotion MLD.
The parameter can only be written via the IndraMotion MLD. Ex
ternally, that is via the master communication, it can only be read!

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 699/1033


and Controls

Product-Specific Parameters
See also Functional Description "Velocity Control"
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
Use

Regarding its function, the parameter "P01460, PLC Velocity command value"
corresponds to parameter "S00036, Velocity command value" the operating
principle of which is explained in the Functional Description.
See also Application Manual "Rexroth IndraMotion MLD"

Record of Modifications

P-0-1460 - Attributes

Version

Attribute

up to MPx04VRS

Cycl. tra.: AT

up to MPx04VRS

Editability: no

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.9.116

Comment

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1461, PLC Ramp 2 pitch


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter is used to internally determine a ramp in velocity control via the
IndraMotion MLD.
The parameter can only be written via the IndraMotion MLD. Ex
ternally, that is via the master communication, it can only be read!
See also Functional Description "Velocity Control"
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"

Use

Regarding its function, the parameter "P01461, PLC Ramp 2 pitch" corre
sponds to parameter "P01203, Ramp 2 pitch" the operating principle of which
is explained in detail in the Functional Description.
See also Application Manual "Rexroth IndraMotion MLD"

Record of Modifications

P-0-1461 - Attributes

Version

Attribute

up to MPx04VRS

MPx Default value: --

up to MPx04VRS

Cycl. tra.: AT

up to MPx04VRS

Editability: no

up to MPx04VRS

Memory: --

up to MPx04VRS

Validity ch.: no

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

Comment

PM+OM
PM->OM

Data length:
Format:

4Byte
DEC_MV

700/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:

S-0-0160

Cycl. tra.: AT + MDT

Extr. val. ch.:

Decim. pl.:

Comb. check: --

Input
MPB:
MPD:
MPH:

4.9.117

S-0-0161 /
S-0-0162
set switchable: --

--

min./max.
--- / ----- / ----- / ---

Default value
0,000
0,000
0,000

P-0-1463, PLC Deceleration ramp 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter is used to internally determine a deceleration in velocity control


via the IndraMotion MLD.
The parameter can only be written via the IndraMotion MLD. Ex
ternally, that is via the master communication, it can only be read!
See also Functional Description "Velocity Control"
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"

Use

Regarding its function, the parameter "P01463, PLC Deceleration ramp 2"
corresponds to parameter "P01213, Deceleration ramp 2" the operating prin
ciple of which is explained in detail in the Functional Description.
See also Application Manual "Rexroth IndraMotion MLD"

Record of Modifications

P-0-1463 - Attributes

Version

Attribute

up to MPx04VRS

MPx Default value: --

up to MPx04VRS

Cycl. tra.: AT

up to MPx04VRS

Editability: no

up to MPx04VRS

Memory: --

up to MPx04VRS

Validity ch.: no

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0160

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.9.118

Comment

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0,000
0,000
0,000

P-0-1465, PLC/Commishing mode Torque/force command value


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
MPB
MPB
MPB

MPH
MPH
MPH
MPH

-
-
-
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 701/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-closed loop

This parameter is used to internally input a torque/force command value in tor


que control via the IndraMotion MLD.
The parameter can only be written via the IndraMotion MLD. Ex
ternally, that is via the master communication, it can only be read!
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"

Use

Regarding its function, the parameter "P01465, PLC Torque/force command


value" corresponds to parameter "S00080, Torque/force command value" the
operating principle of which is explained in the Functional Description.
See also Application Manual "Rexroth IndraMotion MLD"

Record of Modifications

P-0-1465 - Attributes

Version

Attribute

up to MPx04VRS

Cycl. tra.: AT

up to MPx04VRS

Editability: no

Function: Par
Memory: --

Editability:
Validity ch.:

PM+OM
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT + MDT

Comb. check: --

Input
MPB:
MPD:
MPH:

4.9.119

Comment

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1466, PLC Torque/force ramp


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-closed loop

-
-
-
MPH

-
-
-
MPD

With the torque/force ramp time (S-0-0823), the PLC torque/force ramp defines
a pitch for the PLC torque/force command value (P-0-1465) in the operating
mode torque/force control of the PLC (only with temporary control).
See also Functional Description "Torque/Force Control"
See also Parameter Description "S-0-0822, Torque/force ramp"

Use
P-0-1466 - Attributes

The parameter is operated by the function blocks of MLD and only used for
display (on the local axis with temporary control in MLD).
Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0086

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


--- / ----- / ----- / ---

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: -Default value
0,0
0,0
0,0

702/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.9.120

P-0-1499, PLC retain data on-board


Allocation

Function
P-0-1499 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
-
-
-motion logic

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
RETAIN_KUNDEValidity ch.:
-Extr. val. ch.:
-Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

4.10

P-0-1500 - P-0-1599 Device Parameters

4.10.1

P-0-1506, Circuit board code optional module 1

Function

-
-
-
-

This parameter is for internal use only.

Input
MPB:
MPD:
MPH:

Allocation

MPH
MPH
-
-

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

MPD
MPD
MPD
MPD

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 elements
of the list:
Element no.

Function

circuit board designation (1)

circuit board designation (2)

component number

serial number

circuit board type and version

release/revision index

writing cycles

Fig.4-200:

Elements of parameter P-0-1506

By means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section ("P01520, Control
section type") and the basic device ("S00140, Controller type"). The type des
ignation of the control section also implies firmware dependencies.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 703/1033


and Controls

Product-Specific Parameters
P-0-1506 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.10.2

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1507, Circuit board code optional module 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 elements
of the list:
Element no.

Function

circuit board designation (1)

circuit board designation (2)

component number

serial number

circuit board type and version

release/revision index

writing cycles

Fig.4-201:

Elements of parameter P-0-1507

By means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section ("P01520, Control
section type") and the basic device ("S00140, Controller type"). The type des
ignation of the control section also implies firmware dependencies.
P-0-1507 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

704/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.10.3

P-0-1508, Circuit board code optional module 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 elements
of the list:
Element no.

Function

circuit board designation (1)

circuit board designation (2)

component number

serial number

circuit board type and version

release/revision index

writing cycles

Fig.4-202:

Elements of parameter P-0-1508

By means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section ("P01520, Control
section type") and the basic device ("S00140, Controller type"). The type des
ignation of the control section also implies firmware dependencies.
P-0-1508 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.10.4

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1509, Circuit board code master communication


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains identification data for the master communication circuit
board (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"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 705/1033


and Controls

Product-Specific Parameters
Use

The parameter contains a list. The following data are included in the elements
of the list:
Element no.

Function

circuit board designation (1)

circuit board designation (2)

component number

serial number

circuit board type and version

release/revision index

writing cycles

Fig.4-203:

Elements of parameter P-0-1509

By means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section ("P01520, Control
section type") and the basic device ("S00140, Controller type"). The type des
ignation of the control section also implies firmware dependencies.
P-0-1509 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.10.5

PM
PM->OM
---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1510, Circuit board code power section


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 elements
of the list:
Element no.

Function

circuit board designation (1)

circuit board designation (2)

component number

serial number

circuit board type and version

706/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Element no.

Function

release/revision index

writing cycles

Fig.4-204:

Elements of parameter P-0-1510

By means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section ("P01520, Control
section type") and the basic device ("S00140, Controller type"). The type des
ignation of the control section also implies firmware dependencies.
P-0-1510 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
LT_SP
---

Input
MPB:
MPD:
MPH:

4.10.6

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1511, Circuit board code control section


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 elements
of the list:
Element no.

Function

circuit board designation (1)

circuit board designation (2)

component number

serial number

circuit board type and version

release/revision index

writing cycles

Fig.4-205:

Elements of parameter P-0-1511

By means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section ("P01520, Control
section type") and the basic device ("S00140, Controller type"). The type des
ignation of the control section also implies firmware dependencies.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 707/1033


and Controls

Product-Specific Parameters
P-0-1511 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.10.7

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1512, Circuit board code of optional module 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 elements
of the list:
Element number

Function

circuit board designation (1)

circuit board designation (2)

component number

serial number

circuit board type and version

release/revision index

writing cycles

Fig.4-206:

Elements of parameter P-0-1512

By means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section ("P01520, Control
section type") and the basic device ("S00140, Controller type"). The type des
ignation of the control section also implies firmware dependencies.
P-0-1512 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

708/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.10.8

P-0-1513, Circuit board code optional module 1 for safety technology


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Function

This parameter contains identification data for the circuit board of the optional
module 1 for safety technology (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.

Use

The parameter contains a list. The following data are included in the elements
of the list:
Element no.

Function

circuit board designation (1)

circuit board designation (2)

component number

serial number

circuit board type and version

release/revision index

writing cycles

Fig.4-207:

Elements of parameter P-0-1506

By means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section "P01520, Control
section type" and the basic device "S00140, Controller type". The type des
ignation of the control section also implies firmware dependencies.
P-0-1513 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.10.9

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1514, Circuit board code optional module 2 for safety technology


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains identification data for the circuit board of the optional
module 2 for safety technology (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.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 709/1033


and Controls

Product-Specific Parameters
Use

The parameter contains a list. The following data are included in the elements
of the list:
Element no.

Function

circuit board designation (1)

circuit board designation (2)

component number

serial number

circuit board type and version

release/revision index

writing cycles

Fig.4-208:

Elements of parameter P-0-1514

By means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section "P01520, Control
section type" and the basic device "S00140, Controller type". The type des
ignation of the control section also implies firmware dependencies.
P-0-1514 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.10.10

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1518, Module code of control section


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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.

Use

The parameter contains a list. The following data are included in the elements
of the list:
Element number

Function

circuit board designation (1)

circuit board designation (2)

circuit board designation (3)

component number

serial number

circuit board type and version

710/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Element number

Function

release/revision index

writing cycles

Fig.4-209:

Elements of parameter P-0-1518

The type designation of the control section also implies firmware dependencies.
P-0-1518 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.10.11

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1519, Module code of power section


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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.

Use

The parameter contains a list. The following data are included in the elements
of the list:
Element number

Function

basic module designation (1)

basic module designation (2)

basic module designation (3)

part number

serial number

power section firmware code

release/revision index

writing cycles

Fig.4-210:

Elements of parameter P-0-1519

The type designation of the control section also implies firmware dependencies.
P-0-1519 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
LT_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 711/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.10.12

--- / ----- / ---

-----

P-0-1520, Control section type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

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 desig
nation.
The type designation of the control section also implies firmware dependencies.

P-0-1520 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.10.13

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1530, Control section MAC address


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

Parameter P01530 contains the MAC address of the Engineering Port of


HPC03 which is required within the scope of Ethernet communication. The
MAC address (Media Access Control) is used for unequivocal identification for
the Ethernet communication in the network.
The MAC address has been permanently assigned to the Engi
neering Port of HPC03 and cannot be modified!
See also Parameter Description "S-0-1019, Master communication: MAC ad
dress"

P-0-1530 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

712/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.10.14

P-0-1531, Control section IP address


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

Parameter P-0-1531 contains the IP address of the IP node on the Engineering


Port of HPC03 which is required within the scope of IP communication. The IP
address (Internet Protocol) is used to clearly identify a node on the Internet.
Changes of the parameter will only take effect after the 24V supply
of the drive has been switched on again.
See also Parameter Descriptions:
"P-0-1532, Control section network mask"
"P-0-1533, Control section gateway address"
"S-0-1020, Master communication: IP address"

P-0-1531 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.10.15

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 1Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1532, Control section network mask


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

Parameter P-0-1532 contains the network mask of the IP node on the Engi
neering Port of the control section which is required within the scope of IP
communication. Each IP address (Internet Protocol) consists of a network and
a device part. The network mask is used to distinguish between network and
device part.
Changes of the parameter will only take effect after the 24V supply
of the drive has been switched on again.
See also Parameter Descriptions:
"P-0-1531, Control section IP address"
"P-0-1533, Control section gateway address"
"S-0-1021, Master communication: network mask"

P-0-1532 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
--

Data length:
Format:

1Byte var.
DEC_OV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 713/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.10.16

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1533, Control section gateway address


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

Parameter P-0-1533 contains the gateway address of the IP node on the En


gineering Port of HPC03 which is required within the scope of IP communica
tion.
If the communication node wants to transmit an IP package (Internet Protocol),
the network parts of the source IP address and the target IP address are com
pared. If they do not match, the IP package is transmitted to the gateway
address.
See also Parameter Descriptions:
"P-0-1531, Control section IP address"
"P-0-1532, Control section network mask"
"S-0-1022, Master communication: gateway address"

P-0-1533 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.10.17

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 1Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1534, C6100 Command Activate IP settings


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
drives optional card
"open loop", "closed loop"

-
-
-
MPD

This command activates the IP settings (IP address, network mask and default
gateway) made by the user for the devices available in the controller.
If the IP settings are changed, the settings made before the change
keep being active until the command is started.

Use

When the command is started, communication is aborted of all devices (hard


ware via which IP communication can take place, cf. network card in PC) for
which the settings were changed. After the command was successfully com
pleted, IP communication can be established with the new settings.

714/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The command can be started via the control panel or via a commissioning tool
("IndraWorks D" or "SynTop").
P-0-1534 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.10.18

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1544, Control section status IP communication


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

Via the parameter "P-0-1544, Control section status IP communication", you


can read the status information on the current status of IP communication at
the Engineering Port of the device.
The parameter contains both general information on IP communication and
device-dependent information for the Engineering Port in the device.

Structure

The general status information on IP communication is preferably contained in


the first 8 bits of parameter P-0-1544. The bits 8 to 31 contain the device-de
pendent information for the Engineering Port.
The individual bits of the parameter have the following significance:
Bit

Designation/function

1..0

status internal memory TCP/IP stack


00: no problem with internal memory
01: internal memory space full
10: internal memory space intermittently filled

3..2

reserved

6..4

default gateway information


000: not set
001: from Ethernet slave (S-0-1022)
010: from SERCOS III master (P-0-1643)
100: from Engineering Port (P-0-1533)

reserved

9..8

setting of device gateway information


00: no gateway information set
01: active gateway information manually set
10: active gateway information automatically generated

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 715/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

Comment

11..10

status of device gateway information


00: gateway information not used
01: gateway address which was read is active
10: gateway address which was read has not been activated
up to now

12

status of device network mask


0: network mask which was read is active
1: network mask which was read has not been activated up
to now

15..13

reserved

17..16

setting of device IP address


00: no IP address set
01: active IP address manually set
10: active IP address automatically set

20..18

status of IP address
000: no IP address available for activation
001: IP address which was read is active
010: IP address which was read has not been activated up
to now
100: "Duplicate IP Address", address not active

21

reserved

22

validity of device IP settings


0: IP settings valid
1: invalid IP settings (address and gateway in different net
works)

23

status of IP communication
0: IP communication possible
1: no IP communication possible (resources missing)

25..24

status of FPGA Rx Buffer


00: FPGA Rx Buffer able to receive data
01: FPGA Rx Buffer temporarily busy
10: FPGA Rx Buffer permanently busy

27..26

reserved

29..28

status of FPGA Tx Buffer


00: FPGA Tx Buffer able to receive data
01: FPGA Tx Buffer temporarily busy
10: FPGA Tx Buffer permanently busy

31..30

reserved

Fig.4-211:
P-0-1544 - Attributes

Function: Par
Memory: --

P-0-1544, Control section status IP communication


Editability:
Validity ch.:

nein
--

Data length:
Format:

4Byte
BIN

716/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11

P-0-1600 - P-0-1999 Cross Communication Drives (CCD)

4.11.1

P-0-1600, CCD: configuration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter is used to configure the CCD communication in the CCD mas
ter.
See also Functional Description "Cross Communication (CCD)"

Structure

The individual bits of the configuration word have the following significance and
function:
Bit

Designation/function

activation of cross communication in master


0: CCD master not active
1: CCD master active

reserved

reserved

4,3

CCD operating mode


00: CCD system mode
01: MLD-M system mode
10: CCD basic mode

6/5

reserved

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 717/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

8/7

CCD error reaction

Comment

00: No reaction:
There is not reaction to errors of the CCD nodes. Any de
sired reaction has to be programmed in the control unit.
01: Simple error reaction:
In the case of errors in a CCD node, the warning E2140 is
displayed in the master.
10: Master-controlled synchronous error reaction:
When this error reaction is active, the parameter "P-0-170x,
CCD: diagnostic message number slave x" is cyclically eval
uated and the corresponding reaction takes place in the
master and the other slaves. With bit 10 it is possible to se
lect whether the configuration of P-0-1790x and S-0-0390
takes place automatically for all slaves.
11: Automatic complete error reaction:
As soon as an error occurs in an axis, all axes are deceler
ated as parameterized in P-0-0119. The error F2140/E2140
is set in the master.
9

Only takes effect, when bit 8/7 = 10


This bit defines the reaction of the CCD master to an F8xxx
error in the CCD group.
0: torque disable
1: best possible deceleration

10

CCD group error reaction, when bit 8/7 = 10


This bit defines whether S-0-0390 of the slaves is automat
ically configured in the AT, i.e. whether all slaves participate
in the error reaction.
0: group reaction active
1: selective error reaction of the slaves (manual configura
tion)

11

reaction to telegram failure


In the case of more telegram failures in phase 4 than para
meterized in P-0-1639, the error F4140 is generated.
0: master tries to return to phase 2 via phase 0
1: master keeps presetting phase 4

Fig.4-212:
Use

CCD configuration

Observe the following aspects for parameter setting:


P-0-1600 is only set in the CCD master, as the CCD slaves are mere
S3 drives!

Bit 4/3: CCD operating mode for the CCD group According to the appli
cation, select the corresponding mode:

00: CCD system mode


Command triggering of the CCD slaves by higher-level control unit
("remote" external with profile interpreter for profile types 0xFFFE

718/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
and 0xFFFD) or, where possible, via local MLD with permanent con
trol and profile type FFFD; process data exchange between CCD
master and slaves, as well as external control unit and CCD slaves,
is possible --> CCD slaves are known to external control unit

01: MLD-M system mode


Command triggering of the CCD slaves by MLD in the master drive
or via P-0-165x in the master by the external control unit; only proc
ess data exchange between CCD master and slaves --> CCD slaves
are unknown in external control unit

10: CCD basic mode


Command triggering of CCD slaves can take place by higher-level
control unit ("remote" external, but without profile interpreter) via pa
rameter P0165x in the master, via MLD-M in the master drive or,
where possible, via local MLD-S with permanent/local control; only
process data exchange between CCD master and slaves --> CCD
slaves are unknown in external control unit

Bit 8/7: Error reaction:

00: No reaction
In the case of error in a CCD axis, other CCD axes are not automat
ically decelerated. A group error reaction has to be explicitly pro
grammed by the control unit.

01: Simple error reaction


In the case of errors in a CCD node, the warning E2140 is displayed
in the master.
10: Master-controlled synchronous error reaction
When the error reaction is active, the parameter "P-0-170x, CCD:
diagnostic message number slave x" is cyclically evaluated. For this
purpose, P-0-170x must be configured for each slave in P01624.
In P-0-1626 the parameter S-0-0390 must have been entered at the
corresponding place. The error reactions of master and slaves take
place depending on the recognized error number.
11: Automatic complete error reaction
When the CCD master recognizes 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
the error "F2140 CCD slave error". If the CCD master is not in control,
only the warning E2140 is displayed.

Bit 10: Master-side CCD error reaction (only for master-controlled syn
chronous 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 diag
nosis for all slaves must be switched off with bit 10 of P01600. In
P-0-1624 and P-0-1626, you then have to make manual entries for the
diagnostic message numbers of the slaves which are to participate in the
error reaction.
(P01624[i] = P0170x and P01626[i] = S00390)
For detailed information on the CCD error reaction, see Functional
Description chapter "Cross Communication (CCD)"!

P-0-1600 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Data length:
Format:

2Byte
BIN

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 719/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.11.2

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
1
1
0

P-0-1601, CCD: addresses of projected drives


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

In conjunction with drive cross communication (CCD), this parameter is used


to list the addresses of the CCD slaves (drives) projected in the CCD group and
thereby carry out the assignment of drive (address) and CCD slave number
(logic address).
See also Functional Description "Cross Communication (CCD)"
If P-0-1601 contains the address of a SERCOS III slave which is
not contained in "P-0-4031, Overview of device addresses", the
command error C0265 is generated.

Structure

The list parameter (2 bytes per element) has the following structure and content:

Fig.4-213:
Use

P-0-1601, CCD: addresses of projected drives

In the transition command "C0200 Exit parameterization level procedure com


mand", this list is compared in the CCD master to the SERCOS III slaves which
were found. If there aren't any axes with these addresses found in CCD phase
0, the warning E4013 is displayed and the CCD communication remains in
phase 0. The drive with the address entered in list element 0 corresponds to
CCD slave 1, etc.
If all projected drives are found (contained in P-0-1603), the addresses are
applied to P-0-4031 in the order as entered in P-0-1601.
Observe the following for parameterizing P01601:

P-0-1601 - Attributes

P-0-1601 is only available in the CCD master and therefore must be par
ameterized in the CCD master.

In the list elements, enter the address of the CCD slave which can be taken
from P-0-4025 of the respective slave axis.

The entered address and slave number are assigned via the respective
list element: element 0 corresponds to CCD slave 1, element 1 corre
sponds to CCD slave 2, etc.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Data length:
Format:

2Byte var.
DEC_OV

720/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.11.3

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1602, CCD: timing settings


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter contains the cycle times and timing settings used for cross
communication (CCD) which the CCD master internally configures automati
cally.
Parameter P-0-1602 is only used for diagnostic purposes. The CCD
cycle time is set via S-0-1001.
See also Functional Description "Cross Communication (CCD)"
See also Parameter Description "S-0-0001, NC cycle time (TNcyc)"

Structure

The list parameter has the following content:

Fig.4-214:
P-0-1602 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Content of P-0-1602, CCD: timing settings


Par
-us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.4

nein
----

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1603, CCD: actual topology


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

-
-
-

-
-
MPH

-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 721/1033


and Controls

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

-
MPH
drives optional card
"open loop", "closed loop"

The parameter is used in conjunction with drive cross communication (CCD).


It displays the addresses of the SERCOS III slaves (drives and I/Os) found in
phase 0, in ascending order according to their topology (list element 0 corre
sponds to CCD slave directly at CCD master, etc.). Only the slaves contained
in this list can be addressed as of CCD phase 2. Up to phase 2, multiple ad
dresses can exist.
If P-0-1601 contains drives not contained in P-0-1603, the warning E4013 or
C0265 is generated during the execution of command C0200.
If the command topology in P-0-1636 and the actual topology differ, the warning
E4013 is generated in CCD phase 2. It is impossible to progress to CCD phase
3 or 4.
The command topology and the actual topology always must be identical. You
either have to adjust the entries in P-0-1636 to the actual topology or set the
addresses of the CCD slaves to the command topology with the command C70
"P-0-1635, 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 content:

Fig.4-215:
P-0-1603 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-1603, CCD: actual topology


Par
----

Input
MPB:
MPD:
MPH:

4.11.5

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1604, CCD: addresses of projected I/Os


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

The parameter is used in conjunction with drive cross communication (CCD) to


list the addresses of the CCD slaves (I/Os) projected in the CCD group and in
this way make the assignment of actual I/O address and I/O number (logic I/O
address) in the CCD group.

722/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
In the transition command "C0200 Exit parameterization level procedure com
mand", this list is compared in the CCD master to the SERCOS III slaves which
were found.
If all projected I/Os are found (contained in P-0-1603), the addresses are ap
plied to P-0-4031 in the order as entered in P-0-1604. The order is arbitrary and
in this form is applied to P-0-4031 (P0->P1) after the drive addresses. During
the transition to P2, a check is run to find out whether the projected addresses
are of the I/O type.
See also Functional Description "Cross Communication (CCD)"
If P-0-1604 contains the address of a SERCOS III slave which is
not contained in "P-0-1603, CCD: addresses of drives found", the
command error C0265 is generated.
Structure

The list parameter (2 bytes per element) has the following structure and content:

Fig.4-216:
Use

P-0-1604 - Attributes

P-0-1604, CCD: addresses of projected I/Os

Observe the following for parameterizing P01604:

P-0-1604 is only available in the CCD master and therefore must be par
ameterized in the CCD master.

The I/O module with the address entered in list element 0 corresponds to
CCD I/O 1, etc.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.11.6

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1605, CCD: command communication phase


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter is used to preset the command phase for the CCD group.
P-0-1605 is only available in the CCD master!
See also Functional Description "Cross Communication (CCD)"

Use

Observe the following aspects when writing this parameter:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 723/1033


and Controls

Product-Specific Parameters

P-0-1605 - Attributes

Possible phase input:

0: P0

1: P1

2: P2

3: P3

4: P4

The CCD phase is normally input automatically by the commands


S00420 and S-0-0422 in the CCD master, i.e. P-0-1605 is internally writ
ten by the CCD master!

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.11.7

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
0/4
0/4
0/4

Default value
-------

P-0-1606, CCD: actual communication phase


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter displays the actual communication phase of the CCD group.
The user cannot change P-0-1606 and this parameter is available
in the CCD master for diagnostic purposes only!
See also Functional Description "Cross Communication (CCD)"

P-0-1606 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.11.8

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1607, CCD: axis error


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter contains the class 1 diagnostics error bits of the CCD nodes.

724/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit No.
0

class 1 diagnostics bit of master

class 1 diagnostics bit of slave 1

class 1 diagnostics bit of slave 2

class 1 diagnostics bit of slave 3

class 1 diagnostics bit of slave 4

class 1 diagnostics bit of slave 5

class 1 diagnostics bit of slave 6

class 1 diagnostics bit of slave 7

class 1 diagnostics bit of slave 8

class 1 diagnostics bit of slave 9

Fig.4-217:
P-0-1607 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Description

Class 1 diagnostics error bits


Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.9

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1609, CCD: status word


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter contains information on the CCD status.


Bit

Designation/function

3-0 target phase


SERCOS phase to which switching is to take place
7-4 actual phase
SERCOS phase currently active
8

phase switch active


at present, there is an attempt to switch to the target phase

phase switch aborted with error


an error occurred when switching to the target phase had taken
place

10

parameter channel is not available


at present, parameter channel is not available, because actual
phase < 2 or phase switch is active

Fig.4-218:

CCD status

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 725/1033


and Controls

Product-Specific Parameters
See also Functional Description "Cross Communication (CCD)"
P-0-1609 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.11.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1610, CCD: cycle time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

With this parameter, it is possible to set a CCD cycle time smaller than the
master communication cycle time (S-0-0001 or S-0-1001).
See also Functional Description "Cross Communication (CCD)"

Use

P-0-1610 - Attributes

The resulting NC cycle time which the CCD master presets to the CCD slaves
in S-0-1001 results from the smaller value of S-0-0001 or S-0-1001 and
P-0-1610 of the master. This means that if the value in "P-0-1610, CCD: cycle
time" in unequal 0 and smaller than the master communication cycle time of
the master (S-0-0001 or S-0-1001), P-0-1610 is preset as NC cycle time for the
CCD slaves.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Input
MPB:
MPD:
MPH:

4.11.11

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
250,000 / 4000,000
250,000 / 4000,000
0,000 / 4000,000

Default value
-------

P-0-1611, CCD: configuration list signal status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

List parameter to configure 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; 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-0-0026 of slave 1

the next 16 list elements are written in S-0-0026 of slave 2 etc.

726/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-1611 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.11.12

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1612, CCD: configuration list signal control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

List parameter to configure the signals (cf. S-0-0027) of the signal control words
in all CCD slaves.
See also Functional Description "Cross Communication (CCD)"

Structure

P-0-1612 - Attributes

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-0-0027 of slave 1

the next 16 list elements are written in S-0-0027 of slave 2 etc.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.11.13

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1613, CCD: assignment list signal status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

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

P-0-1613 - Attributes

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.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Data length:
Format:

2Byte var.
DEC_OV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 727/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: -Input
MPB:
MPD:
MPH:

4.11.14

Extr. val. ch.: -Comb. check: --

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1614, CCD: assignment list signal control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

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

P-0-1614 - Attributes

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.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.11.15

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1615, CCD: extrapolated cmd value IDN list signal selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

To compensate the transmission dead time between the CCD master and the
slaves, the command value for the slaves is extrapolated. "P01618, CCD:
extrapolated command value" is used as selection list for parameterizing
P-0-1615.
See also Functional Description "Cross Communication (CCD)"

P-0-1615 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: -Default value
-------

728/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.11.16

P-0-1616, CCD: extrapolated cmd value signal selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

To compensate the transmission dead time between the CCD master and the
slaves, the command value for the slaves is extrapolated. Parameter P-0-1616
is used for configuring the signal used for extrapolation in the CCD master.
The extrapolated value is entered in parameter "P-0-1618, CCD:
extrapolated command value"!
See also Functional Description "Cross Communication (CCD)"

P-0-1616 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.11.17

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1617, CCD: number of extrapolation steps


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

To compensate the transmission dead time between the CCD master and the
slaves, the command value for the slaves is extrapolated. The number of ex
trapolation steps to be carried out is entered in P-0-1617.
See also Functional Description "Cross Communication (CCD)"

Use

P-0-1617 - Attributes

Observe the following for setting P-0-01617:

Extrapolation is carried out over n SERCOS cycles.

The parameter is automatically configured internally and, if required, can


be manually adjusted.

Possible input values are 0 - 2.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
--- / ----- / --0/3

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
----2

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 729/1033


and Controls

Product-Specific Parameters

4.11.18

P-0-1618, CCD: extrapolated command value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

To compensate the transmission dead time between the CCD master and the
slaves, the command value for the slaves is extrapolated. The extrapolated
command value is entered in P-0-1618 and can be assigned to the slaves.
See also Functional Description "Cross Communication (CCD)"

P-0-1618 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.19

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1621, CCD: configuration list master communication cmd values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

In the "CCD system mode", P-0-1621 is used to configure the command values
which, in the case of collective field bus connection, are transmitted from the
external field bus master via the CCD master to the CCD slaves in the MDT.
P-0-1621 therefore corresponds to a list with command values which are trans
mitted via the master communication command value telegram (cf. P-0-4081)
and directly copied by the master to the MDT CCD interface for the corre
sponding CCD slaves.
Together with the content of P-0-1625, the content of P-0-1621 is
directly copied to "S-0-0024, Config. list of the master data tele
gram" of the corresponding slave.
See also Functional Description "Cross Communication (CCD)"

Structure

The configuration list has the following structure:

730/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Fig.4-219:
Use

P-0-1621 - Attributes

Structure of P-0-1621, CCD: configuration list master communication


cmd values

Observe the following aspects for parameter setting:

Only cyclically configurable command values can be entered in P01621


(cf. S-0-0188).

The cyclic master communication command values of the slaves are con
figured via P-0-1621, but the master communication command values of
the CCD master are still entered in P-0-4081, as it is usual for field buses.

The maximum number of possible entries is limited due to the maximum


possible 16 IDNs for each CCD slave in P-0-1621.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.11.20

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1622, CCD: configuration list master communication actual values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

In the "CCD system mode", P-0-1622 is used to configure the actual values
which, in the case of collective field bus connection, are transmitted from the
individual CCD slaves via the CCD master to the external field bus master.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 731/1033


and Controls

Product-Specific Parameters
P-0-1622 therefore corresponds to a list with actual values which come via CCD
AT from the corresponding CCD slave and are copied by the master directly to
the master communication actual value telegram (cf. P-0-4080).
Together with the content of P-0-1626, the content of P-0-1622 is
directly copied to "S-0-0016, Configuration list of AT" of the corre
sponding slaves.
See also Functional Description "Cross Communication (CCD)"
Structure

The configuration list has the following structure:

Fig.4-220:
Use

P-0-1622 - Attributes

Structure of P-0-1622, CCD: configuration list master communication


actual values

Observe the following aspects for parameter setting:

Only cyclically configurable actual values can be entered in P-0-1622 (cf.


S-0-0188).

The cyclic master communication actual values of the slaves are config
ured via P-0-1622, but the master communication actual values of the
CCD master are still entered in P-0-4080, as it is usual for field buses.

The maximum number of possible entries is limited due to the maximum


possible 16 IDNs for each CCD slave in P-0-1621.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: -Default value
-------

732/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.11.21

P-0-1623, CCD: configuration list master cmd values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

P-0-1623 is used to configure the command values which are transmitted from
the CCD master to the CCD slaves in the MDT. The list contains the command
values which the CCD master puts into the MDT (SERCOS 3).
"P01625, CCD: configuration list slave cmd values" contains the
information as to how the CCD slave interprets these data.
See also Functional Description "Cross Communication (CCD)"

Structure

The configuration list has the following structure:

Fig.4-221:

Structure of P-0-1623, CCD: configuration list master command values

The first 16 list elements are reserved for configuring the data for
the CCD master axis in the MLD-M system mode with "virtual slave
operation".
Use

P-0-1623 - Attributes

Observe the following aspects for parameterizing P-0-1623:

Only cyclically configurable actual values and command values can be


entered in P0-1623 (cf. S-0-0187, S-0-0188).

The max. number of possible entries is limited due to the max. possible
16 IDNs and therefore depends on the number of entries in P01621.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Data length:
Format:

2Byte var.
IDN

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 733/1033


and Controls

Product-Specific Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.11.22

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1624, CCD: configuration list actual master values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

P-0-1624 is used to configure the actual values which are transmitted from the
CCD slaves to the CCD master in the AT. The list therefore contains the IDNs
of the data which the CCD slave puts into the AT and which are destined for
the CCD master. The CCD master copies these data internally to the listed
parameters.
The data the slave puts into the AT are contained in "P-0-1626,
CCD: configuration list actual slave values".
See also Functional Description "Cross Communication (CCD)"

Structure

The configuration list has the following structure:

Fig.4-222:

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 the MLD-M system mode with "virtual slave
operation".
Use

Observe the following aspects for parameterizing P-0-1624:

734/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

P-0-1624 - Attributes

Only cyclically configurable command values can be entered in P01624


(cf. S-0-0188).

The max. number of possible entries is limited due to the max. possible
16 IDNs and therefore depends on the number of entries in P01622.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.11.23

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1625, CCD: configuration list slave cmd values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

P-0-1625 is used to configure the command values which 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, Config.
list of the master data telegram" of the corresponding slave. The
master generates the command values. The reference list for the
CCD master is P01623 (e.g. P-0-0434 -> S00047).
See also Functional Description "Cross Communication (CCD)"

Structure

The configuration list has the following structure:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 735/1033


and Controls

Product-Specific Parameters

Fig.4-223:

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 the MLD-M system mode with "virtual slave
operation".
Use

P-0-1625 - Attributes

Observe the following aspects for parameter setting:

Only cyclically configurable command values can be entered in P01625


(cf. S-0-0188).

The max. number of possible entries is limited due to the max. possible
16 IDNs and therefore depends on the number of entries in P01621.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.11.24

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1626, CCD: configuration list actual slave values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

P-0-1626 is used to configure the actual values which are transmitted from the
CCD slaves to the CCD master in the AT.

736/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The list contains actual values for the CCD master (internal) which
the slave puts into the SERCOS 3 AT. The parameters of the list
are directly copied to "S-0-0016, Configuration list of AT" of the cor
responding slave. "P-0-1624, CCD: configuration list actual master
values" contains the information as to how the CCD master inter
prets these data. The first 16 list elements belong to slave 1, the
next ones to slave 2 etc.
See also Functional Description "Cross Communication (CCD)"
Structure

The configuration list has the following structure:

Fig.4-224:

Structure of P-0-1626, CCD: configuration list actual slave values

The first 16 list elements are reserved for configuring the data for
the CCD master axis in the MLD-M system mode with "virtual slave
operation".
Use

P-0-1626 - Attributes

Observe the following aspects for parameter setting:

Only cyclically configurable actual values and command values can be


entered in P0-1626 (cf. S-0-0187, S-0-0188).

The max. number of possible entries is limited due to the max. possible
16 IDNs and therefore depends on the number of entries in P01622.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 737/1033


and Controls

Product-Specific Parameters

4.11.25

P-0-1627, CCD: configuration list master cmd values I/Os


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter is used to configure the command values which are transmitted
from the CCD master to the S3 I/Os in the MDT.
See also Functional Description "Cross Communication (CCD)"

Structure

The configuration list has the following structure:

Fig.4-225:
Use

P-0-1627 - Attributes

Structure of P-0-1627, CCD: configuration list master cmd values I/Os

The CCD master transmits the data of the listed parameters to the MDT and
the S3 I/O outputs the data via its outputs. MLD can write data to the configured
parameters and data thereby can be transmitted to the outputs of the S3 I/O
module. A compact I/O only has a 16-bit output port so that the master can
assign parameters of a maximum size of 16 bits. The parameter in element 0
corresponds to the outputs of the first I/O module, element 16 to those of the
second module, element 32 to those of the third module and element 48 to
those of the fourth module.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.11.26

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1628, CCD: configuration list act. master values I/Os


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

738/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

This parameter is used to configure the actual values which the SERCOS III I/
Os transmit to the CCD master in the AT.
See also Functional Description "Cross Communication (CCD)"

Structure

The configuration list has the following structure:

Fig.4-226:
Use

P-0-1628 - Attributes

Structure of P-0-1628, CCD: configuration list act. master values I/Os

In the master, the AT data from the SERCOS III I/O are written to the parameters
contained in the list. MLD can read the configured parameters and thereby the
inputs of the S3 I/O module can be polled. A compact I/O can have an input
port of a size of 16 or 32 bits so that the corresponding parameter has to 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 module, element 32 to those of
the third module and element 48 to those of the fourth module.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.11.27

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1629, CCD: configuration compact I/Os


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!

P-0-1629 - Attributes

-
-
-
-

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ---

see

Technical

Note

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 739/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.11.28

--- / ----- / ---

-----

P-0-1630, CCD: diagnosis


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter is used to display the status of the CCD master, i.e. of the CCD
communication.
The status is displayed in plain text (ASCII characters)!
See also Functional Description "Cross Communication (CCD)"
See also Functional Description "Diagnostic System"

Use

In conjunction with the diagnostic message number (cf. S-0-0390), this exten
ded diagnostic message text is above all useful to analyze the CCD axis system
during commissioning, i.e. configuration. The following text messages are pos
sible, for example:

"Run-up not yet started"

"Initialization started"

"Telegram configuration drive started "

"Telegram configuration I/O started "

"Offset calculation started"

"Timing calculation started"

"Initialization successfully completed!"

"Number of slaves configured > number of slaves found!"


In P-0-1601 and P-0-1604, more CCD slaves were configured than con
nected to the CCD master or than found during the scanning process.

"Configured slave was not recognized in P-0-1603!"


A slave projected in P-0-1601 or P-0-1604 was not found in parameter
"P-0-1603, CCD: actual topology".

"Configured slave was not recognized in P-0-1636!"


A slave projected in P-0-1601 or P-0-1604 was not found in parameter
"P-0-1636, CCD: command topology".

"Configured IDN in AT incorrect!"

The maximum number of IDNs per slave in the AT was exceeded.

The list P-0-1622/24/26 contains an unknown IDN.

The total length of cyclic master communication data per slave in


P-0-1622 was exceeded.

Different number of IDNs in master/slave AT lists (P-0-1624/26).

Different IDN data width in P-0-1624/26.

"Configured IDN in MDT incorrect!"

The maximum number of IDNs per slave in the MDT was exceeded.

The list P-0-1621/23/25 contains an unknown IDN.

740/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

The total length of cyclic master communication data per slave in


P-0-1621 was exceeded.

Different number of IDNs in master/slave MDT lists (P-0-1623/25).

Different IDN data width in P-0-1623/25.

"Error during PLC initialization in MLD-M mode!" During phase switch from
phase 2 to phase 4, an error occurred during the initialization of the PLC;
for example, write request to remote axis failed. Flash or control section
might possible be defective. Contact service engineer!

"Error: NC cycle time is not supported!"NC cycle time is not supported;


see documentation for allowed combinations of CCD mode, performance
and CCD cycle time.

"Error: Config. of signal status/control word (P-0-1611/12)" Inadmissible


IDNs have been entered in the configuration of the signal control/status
word of the virtual slave (element 0-15, P-0-1611/12).

"Error: Timing calculation" An error occurred during SERCOS timing cal


culation.

"Error: Type of SERCOS I/O unknown" The type of the SERCOS I/O is
not allowed. Only such SERCOS I/Os may be operated for which applies:
S-0-1000 = 0x0101, fixed length and SCP version 1.1.

"Error: Length of SERCOS I/O not allowed" Length of SERCOS I/O data
exceeds allowed length of 48 bytes.

"Error: Length of P-0-1603 and P-0-1636 not equal" The length of com
mand topology and actual topology in P-0-1603 and P-0-1636 must be
identical!

"Error: Values in P-0-1603 and P-0-1636 not equal" Command topology


and actual topology do not match!

"The CCD motion cycle time is not allowed for motion task" (see chapter
"Basic Functions of Rexroth IndraMotion MLD", section "Task System")

"Error: Some drive in P-0-1601 is not an allowed drive type" The CCD
master does not support the drive projected in P-0-1601, no IndraDrive
with expected parameters.

"Error: Some I/O in P-0-1604 is not an allowed I/O type" The CCD master
does not support the I/O projected in P-0-1604, no compact I/O with ex
pected SCP version 1.1.

"Error: Address of projected drive and I/O must be unique" Among the
projected drives and I/Os in P-0-1601 and P-0-1604, there mustn't exist
any double address!

"Number of CCD slaves not allowed in this mode or cycle time" Number
of slaves not allowed in this mode and this cycle time. For allowed com
binations, see documentation.

"MLD-M mode not allowed in advanced performance" MLD-M not allowed


with Advanced performance.

"Error: Configuration of I/O input (P-0-1627)" The list P-0-1627 contains


an unknown IDN; length of IDN from P-0-1627 exceeds length of output
data.

"Error: Configuration of I/O output (P-0-1628)" The list P-0-1628 contains


an unknown IDN; length of IDN from P-0-1628 exceeds length of input
data.

"Error when reading T4min time (S-0-1005)" Error when reading time
T4min (S-0-1005) of a slave of type drive.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 741/1033


and Controls

Product-Specific Parameters

"Error when writing analog I/O configuration (S-0-1504.0.20)" Error during


configuration of analog I/Os S-0-1504.0.20.

"Error when writing S/P-X-XXXX Slave x (Code 0x....)" An error with the
SERCOS code 0xXXXX occurred when writing the parameter S/P-XXXXX to slave x via the service channel.

"Error when reading S/P-X-XXXX Slave x (Code 0x....)" An error with the
SERCOS code 0xXXXX occurred when reading the parameter S/P-XXXXX of slave x via the service channel.

"Error at command execution of S/P-0-XXXX Slave x " Error when exe


cuting the command S/P-0-XXXX on slave x. For details, see diagnosis of
the slave.

"Timeout for command acknowledgment of S/P-0-XXXX Slave x" The


started command S/P-0-XXXX on slave x was not terminated or comple
ted within 25s with or without error.

"Switching to phase x successfully carried out"

"Error when switching to phase x (Code 0x)" During the SERCOS phase
transition (soft phase switch), an error with the code 0xXXXXXX was sig
naled. Switching to SERCOS phase X could not be carried out.

See also Application Manual "IndraMotion MLD"


P-0-1630 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.29

nein
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1631, CCD: AT error counter


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter displays an error counter for the AT telegrams. Those AT tele
grams are monitored for which the value entered in parameter "S-0-1012,
SERCOS III: AT lengths" is greater than "0". The error counter counts all invalid
drive telegrams (ATs) in phases 3 and 4 and has an upper limit of 65535.
During heavily disturbed transmission the value 65535 will be
reached after some time.
See also Functional Description "Cross Communication"

Use

Interpretation of parameter content


You have to observe the following points for interpreting the error counter:

As a maximum, the error counter is incremented once per communication


cycle.

The counter is only incremented, when the corresponding AT telegram


fails both on Port 1 and on Port 2.

742/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

P-0-1631 - Attributes

The error counter is cleared during the transition from phase 2 to phase
3.

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.11.30

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-1632, CCD: system data 2 bytes


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter is a dummy parameter which is required for internal configura


tion of the fixed MDT and AT data in the system mode.
The user cannot edit this parameter!
See also Functional Description "Cross Communication (CCD)"

P-0-1632 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.31

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1633, CCD: system data 4 bytes


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter is a dummy parameter which is required for internal configura


tion of the fixed MDT and AT data in the system mode.
The user cannot edit this parameter!
See also Functional Description "Cross Communication (CCD)"

P-0-1633 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 743/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.11.32

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1635, CCD: command adjust slave addresses


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

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 corre
sponding 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)"

P-0-1635 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.33

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1636, CCD: command topology


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter is used in conjunction with drive cross communication (CCD).


All addresses of the CCD slaves (drives and I/Os) connected to the CCD master
have to be entered in this parameter, in ascending order according to their top
ology (list element 0 corresponds to CCD slave directly at CCD master, etc.).
Each address may only be assigned once.
It is also necessary to list the addresses of those SERCOS III slaves which only
were connected to the CCD master, but have not been projected.
If drives have been projected in P-0-1601 or I/Os in P-0-1604 which are not
contained in P-0-1636, the warning E4013 or C0265 is generated during the
execution of command C0200.
If the command topology in P-0-1636 and the actual topology differ, the warning
E4013 is generated in CCD phase 2. It is impossible to progress to CCD phase
3 or 4.
The command topology and the actual topology always must be identical. You
either have to adjust the entries in P-0-1636 to the actual topology or set the

744/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
addresses of the CCD slaves to the command topology with the command C70
"P-0-1635, 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 content:

Fig.4-227:

P-0-1636, CCD: command topology

Element 0 corresponds to the CCD slave directly connected to the CCD master.
P-0-1636 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.34

PM
PM->OM
---

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1637, CCD: error counter Port-1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

These list parameters display the telegram errors of the SERCOS III FPGAs
according to SERCOS III for the corresponding Port.
Element

Error counter

Counter for received Ethernet frames with FCS error

Counter for received Ethernet frames with an alignment error

Counter for discarded receive Ethernet frames based on missing rx


buffer ressources

Counter for discarded forwarding Ethernet frames based on missing


collision buffer ressources

Counter for Ethernet frames which violate the IP channel window

The counters keep running. The counts are retained in the case of phase re
gression.
See also Functional Description "Cross Communication"
P-0-1637 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 745/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.11.35

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1638, CCD: error counter Port-2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

These list parameters display the telegram errors of the SERCOS III FPGAs
according to SERCOS III for the corresponding Port.
Element

Error counter

Counter for received Ethernet frames with FCS error

Counter for received Ethernet frames with an alignment error

Counter for discarded receive Ethernet frames based on missing rx


buffer ressources

Counter for discarded forwarding Ethernet frames based on missing


collision buffer ressources

Counter for Ethernet frames which violate the IP channel window

The counters keep running. The counts are retained in the case of phase re
gression.
See also Functional Description "Cross Communication"
P-0-1638 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.11.36

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1639, CCD: allowed telegram failures


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter allows parameterizing the telegram failures allowed before the
error F4140 is triggered.
The parameter sets 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)"

746/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-1639 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.37

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 65000
0 / 65000
0 / 65000

Default value
-------

P-0-1640, CCD: MAC address


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

Parameter P0-1640 contains the MAC address of the CCD master which is
required within the scope of Ethernet communication. The MAC address (Media
Access Control) is used for unequivocal identification for the Ethernet commu
nication in the network.
The MAC address has been permanently assigned to the hardware
and cannot be modified!
See also Parameter Description "P-0-1643, CCD: gateway address"
See also Parameter Description "S-0-1019, Master communication: MAC ad
dress"

P-0-1640 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.11.38

PM
----

Data length: 1Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1641, CCD: IP address


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

Parameter P-0-1641 contains the IP address of the CCD master as IP node


which is required within the scope of IP communication. The IP address (Inter
net Protocol) is used to clearly identify a node on the Internet.
See also Parameter Description "P-0-1642, CCD: network mask"
See also Parameter Description "P-0-1643, CCD: gateway address"
See also Parameter Description "S-0-1020, Master communication: IP ad
dress"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 747/1033


and Controls

Product-Specific Parameters
P-0-1641 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.39

PM+OM
----

Data length: 1Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1642, CCD: network mask


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

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 address (In
ternet Protocol) consists of a network and a device part. The network mask is
used to distinguish between network and device part.
Changes of the parameter will only take effect after the drive has
been switched on again.
See also Parameter Description: "P-0-1641, CCD: IP address"
See also Parameter Description: "P-0-1643, CCD: gateway address"
See also Parameter Description: "S-0-1021, Master communication: network
mask"

P-0-1642 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.40

PM+OM
----

Data length: 1Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1643, CCD: gateway address


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

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 Protocol),
the network parts of the source IP address and the target IP address are com
pared. If they do not match, the IP package is transmitted to the gateway
address.

748/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Changes of the parameter will only take effect after the drive has
been switched on again.
See also Parameter Description: "P-0-1641, CCD: IP address"
See also Parameter Description: "P-0-1642, CCD: network mask"
See also Parameter Description: "S-0-1021, Master communication: network
mask"
P-0-1643 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.41

PM+OM
----

Data length: 1Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1644, CCD: status IP communication


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

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-de
pendent information for the CCD master.
The individual bits of the parameter have the following significance:
Bit

Designation/function

1..0

status internal memory TCP/IP stack


00: no problem with internal memory
01: internal memory space full
10: internal memory space intermittently filled

3..2

reserved

6..4

default gateway information


000: not set
001: from Ethernet slave (S-0-1022)
010: from SERCOS III master (P-0-1643)
100: from Engineering Port (P-0-1533)

reserved

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 749/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

9..8

setting of device gateway information


00: no gateway information set
01: active gateway information manually set
10: active gateway information automatically generated

11..10

status of device gateway information


00: gateway information not used
01: gateway address which was read is active
10: gateway address which was read has not been activated
up to now

12

status of device network mask


0: network mask which was read is active
1: network mask which was read has not been activated up
to now

15..13

reserved

17..16

setting of device IP address


00: no IP address set
01: active IP address manually set
10: active IP address automatically set

20..18

status of IP address
000: no IP address available for activation
001: IP address which was read is active
010: IP address which was read has not been activated up
to now
100: "Duplicate IP Address", address not active

21

reserved

22

validity of device IP settings


0: IP settings valid
1: invalid IP settings (address and gateway in different net
works)

23

status of IP communication
0: IP communication possible
1: no IP communication possible (resources missing)

25..24

status of FPGA Rx Buffer Port1


00: FPGA Rx Buffer Port1 able to receive data
01: FPGA Rx Buffer Port1 temporarily busy
10: FPGA Rx Buffer Port1 permanently busy

27..26

status of FPGA Rx Buffer Port2


00: FPGA Rx Buffer Port2 able to receive data
01: FPGA Rx Buffer Port2 temporarily busy
10: FPGA Rx Buffer Port2 permanently busy

Comment

750/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

Comment

29..28

status of FPGA Tx Buffer Port1


00: FPGA Tx Buffer Port1 able to receive data
01: FPGA Tx Buffer Port1 temporarily busy
10: FPGA Tx Buffer Port1 permanently busy

30..31

status of FPGA Tx Buffer Port2


00: FPGA Tx Buffer Port2 able to receive data
01: FPGA Tx Buffer Port2 temporarily busy
10: FPGA Tx Buffer Port2 permanently busy

Fig.4-228:
P-0-1644 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-1644, CCD: status IP communication


Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.42

nein
----

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1645, CCD: CC basic parameters


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

P-0-1645 - Attributes

-
-
-
-

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.43

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

see

PM
----

Technical

Note

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1646, CCD: CC connection #1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!

see

Technical

Note

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 751/1033


and Controls

Product-Specific Parameters
P-0-1646 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.44

PM
----

min./max.
--- / ----- / ----- / ---

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

P-0-1647 - Attributes

-
-
-
-

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

see

PM
----

Technical

Note

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1648, CCD: CC connection #3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

P-0-1648 - Attributes

-
-
-
-

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.46

Default value
-------

P-0-1647, CCD: CC connection #2


Allocation

4.11.45

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

see

PM
----

Technical

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1649, CCD: CC connection #4


Allocation

Contained in 02VRS:
Contained in 03VRS:

-
-

Note

-
-

-
-

752/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

-
-
-
MPH
drives optional card
"open loop", "closed loop"

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!

P-0-1649 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.47

-
-

see

PM
----

Technical

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1650, CCD: control word compact I/Os


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter is used to input the operating status and identify the compact
I/Os. There are 4 bits per compact I/O.
Bit

Designation/function

Comment

3-0

bit 15-12 in I/O control word of compact I/O 1

7-4

bit 15-12 in I/O control word of compact I/O 2

11-8

bit 15-12 in I/O control word of compact I/O 3

15-12 bit 15-12 in I/O control word of compact I/O 4

Fig.4-229:

CCD: control word compact I/Os

See also Functional Description "Cross Communication (CCD)"


P-0-1650 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.48

Note

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1651, CCD: master control word, slave 1


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 753/1033


and Controls

Product-Specific Parameters
Function

The parameter "P0165x, CCD: Master control word, slave x" contains the
control word transmitted from the CCD master to the CCD slave x which is
transferred to "S-0-1134, SERCOS III: Master control word" of the CCD slave.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

P-0-1651 - Attributes

When using the parameter, observe the following aspects:

In the MLD-M system mode, the master control words (cf. P-0-165x) are
written by the internal PLC.

In the CCD system mode with active field bus connection, the master
control words are written by the internal profile interpreter.

In the CCD basic mode and in the CCD system mode with parallel inter
face and SERCOS master communication, the parameters can be directly
written.

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.49

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1652, CCD: master control word, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1651, CCD: master control word, slave
1"
See also Functional Description "Cross Communication (CCD)"

P-0-1652 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.50

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1653, CCD: master control word, slave 3


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

754/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

See also Parameter Description "P-0-1651, CCD: master control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1653 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.51

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1654, CCD: master control word, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1651, CCD: master control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1654 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.52

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1655, CCD: master control word, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1651, CCD: master control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1655 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 755/1033


and Controls

Product-Specific Parameters

4.11.53

P-0-1656, CCD: master control word, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1651, CCD: master control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1656 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.54

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1657, CCD: master control word, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1651, CCD: master control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1657 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.55

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1658, CCD: master control word, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1651, CCD: master control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1658 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

756/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.11.56

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1659, CCD: master control word, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1651, CCD: master control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1659 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.11.57

PM+OM
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1660, CCD: status word compact I/Os


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter is used to display the operating status of the compact I/Os.
There are 4 bits per compact I/O.
Bit

Designation/function

Comment

3-0

bit 3-0 in I/O status word of compact I/O 1

7-4

bit 7-4 in I/O status word of compact I/O 2

11-8

bit 11-8 in I/O status word of compact I/O 3

15-12 bit 15-12 in I/O status word of compact I/O 4

Fig.4-230:

CCD: status word compact I/Os

See also Functional Description "Cross Communication (CCD)"


P-0-1660 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 757/1033


and Controls

Product-Specific Parameters

4.11.58

P-0-1661, CCD: drive status word, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

The parameter "P-0-166x, CCD: drive status word, slave x" contains the status
word transmitted from CCD slave x to the CCD master. (Corresponds to the
content of "S-0-1135, SERCOS III: Drive status word" of the CCD slave x.)
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

P-0-1661 - Attributes

When using parameter P-0-166x, observe the following aspects:

In the MLD-M system mode, the drive status words (cf. P-0-166x) are
evaluated by the internal PLC.

In the CCD system mode with active field bus connection, the drive status
words are evaluated by the internal profile interpreter.

In the CCD basic mode and in the CCD system mode with parallel inter
face and SERCOS master communication, the parameters can be directly
written.

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.11.59

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1662, CCD: drive status word, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1661, CCD: drive status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1662 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

758/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.11.60

P-0-1663, CCD: drive status word, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1661, CCD: drive status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1663 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.11.61

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1664, CCD: drive status word, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1661, CCD: drive status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1664 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.11.62

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1665, CCD: drive status word, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1661, CCD: drive status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1665 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 759/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.11.63

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1666, CCD: drive status word, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1661, CCD: drive status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1666 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.11.64

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1667, CCD: drive status word, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1661, CCD: drive status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1667 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.11.65

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1668, CCD: drive status word, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1661, CCD: drive status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

760/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-1668 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.11.66

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1669, CCD: drive status word, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1661, CCD: drive status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1669 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

4.11.67

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1670, CCD: active actual position value, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1671, CCD: active actual position value,
slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1670 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.68

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-1671, CCD: active actual position value, slave 1


Allocation

Contained in 02VRS:
Contained in 03VRS:

-
-

-
-

-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 761/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-

The parameters "P0167x, CCD: active actual position value, master... slave
x" display the active actual position values of the CCD slaves which are trans
mitted from the CCD slaves to the CCD master in the motion channel (AT) of
the MLD-M.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

P-0-1671 - Attributes

The following has to be observed for usage:

Data are only transmitted to this parameter with active MLD-M, i.e. in the
MLD system mode (cf. P-0-1600).

In the case of error, this parameter can be used for diagnostic purposes.

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.69

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1672, CCD: active actual position value, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1671, CCD: active actual position value,
slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1672 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.70

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1673, CCD: active actual position value, slave 3


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
MPH
MPH

-
-
-
-

762/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1671, CCD: active actual position value,
slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1673 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.71

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1674, CCD: active actual position value, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1671, CCD: active actual position value,
slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1674 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.72

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1675, CCD: active actual position value, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1671, CCD: active actual position value,
slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1675 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 763/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.11.73

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1676, CCD: active actual position value, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1671, CCD: active actual position value,
slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1676 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.74

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1677, CCD: active actual position value, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1671, CCD: active actual position value,
slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1677 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.75

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1678, CCD: active actual position value, slave 8


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
-
MPH

-
-
-
-

764/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1671, CCD: active actual position value,
slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1678 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.76

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1679, CCD: active actual position value, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1671, CCD: active actual position value,
slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1679 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.77

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1680, CCD: actual velocity value, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1681, CCD: actual velocity value, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1680 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 765/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.11.78

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1681, CCD: actual velocity value, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

The parameters "P0168x, CCD: actual velocity value, master... slave x" dis
play the actual torque/force values of the CCD slaves which are transmitted
from the CCD slaves to the CCD master in the motion channel (AT) of the MLDM.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

P-0-1681 - Attributes

The following has to be observed for usage:

Data are only transmitted to this parameter with active MLD-M, i.e. in the
MLD system mode (cf. P-0-1600).

In the case of error, this parameter can be used for diagnostic purposes.

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.79

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1682, CCD: actual velocity value, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1681, CCD: actual velocity value, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1682 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:

Comb. check: -min./max.


--- / ---

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: -Default value
---

766/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.11.80

--- / ----- / ---

-----

P-0-1683, CCD: actual velocity value, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1681, CCD: actual velocity value, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1683 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.81

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1684, CCD: actual velocity value, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1681, CCD: actual velocity value, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1684 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.82

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1685, CCD: actual velocity value, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1681, CCD: actual velocity value, slave 1"
See also Functional Description "Cross Communication (CCD)"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 767/1033


and Controls

Product-Specific Parameters
P-0-1685 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.83

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1686, CCD: actual velocity value, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1681, CCD: actual velocity value, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1686 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.84

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1687, CCD: actual velocity value, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1681, CCD: actual velocity value, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1687 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

Comb. check: -min./max.


--- / ----- / ----- / ---

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: -Default value
-------

768/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.11.85

P-0-1688, CCD: actual velocity value, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1681, CCD: actual velocity value, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1688 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.86

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1689, CCD: actual velocity value, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1681, CCD: actual velocity value, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1689 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.87

Comb. check: --

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1690, CCD: actual torque/force value, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1691, CCD: actual torque/force value,


slave 1"
See also Functional Description "Cross Communication (CCD)"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 769/1033


and Controls

Product-Specific Parameters
P-0-1690 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.88

Comb. check: --

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1691, CCD: actual torque/force value, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

The parameters "P0169x, CCD: actual torque/force value, master... slave x"
display the actual torque/force values of the CCD slaves which are transmitted
from the CCD slaves to the CCD master in the motion channel (AT) of the MLDM.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

The following has to be observed for usage:

P-0-1691 - Attributes

Data are only transmitted to this parameter with active MLD-M, i.e. in the
MLD system mode (cf. P-0-1600).

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.89

Comb. check: --

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1692, CCD: actual torque/force value, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1691, CCD: actual torque/force value,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1692 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Data length:
Format:

2Byte
DEC_MV

770/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.90

Extr. val. ch.:

S-0-0093 /
S-0-0094
set switchable: --

--

Decim. pl.:

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-1693, CCD: actual torque/force value, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1691, CCD: actual torque/force value,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1693 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.91

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-1694, CCD: actual torque/force value, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1691, CCD: actual torque/force value,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1694 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.92

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-1695, CCD: actual torque/force value, slave 5


Allocation

Contained in 02VRS:
Contained in 03VRS:

-
-

-
-

-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 771/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-

See also Parameter Description "P-0-1691, CCD: actual torque/force value,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1695 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.93

Comb. check: --

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1696, CCD: actual torque/force value, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1691, CCD: actual torque/force value,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1696 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.94

Comb. check: --

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1697, CCD: actual torque/force value, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1691, CCD: actual torque/force value,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1697 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Data length:
Format:

2Byte
DEC_MV

772/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.95

Extr. val. ch.:

S-0-0093 /
S-0-0094
set switchable: --

--

Decim. pl.:

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-1698, CCD: actual torque/force value, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1691, CCD: actual torque/force value,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1698 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.96

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-1699, CCD: actual torque/force value, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1691, CCD: actual torque/force value,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1699 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0086

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.11.97

Data length:
Format:

2Byte
DEC_MV
S-0-0093 /
Decim. pl.:
S-0-0094
set switchable: --

Comb. check: -min./max.


--- / ----- / ----- / ---

Default value
-------

P-0-1701, CCD: diagnostic message number slave 1


Allocation

Contained in 02VRS:
Contained in 03VRS:

-
-

-
-

-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 773/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-

This parameter is used to display and evaluate the diagnostic message number
of the CCD slaves x in the CCD master.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

P-0-1701 - Attributes

The following has to be observed for usage:

With active CCD error reaction (P-0-1600, bit 8 = 1), the CCD master au
tomatically configures S00390 in the AT of slave x (cf. S01016) and
copies the content to P-0-170x.

A special handling for these P-0-170x was implemented in the master to


interpret the diagnostic message of a slave and, if necessary, trigger a
reaction in the master; see "CCD error reaction" in Functional Description
"Cross Communication (CCD).

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.98

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1702, CCD: diagnostic message number slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1701, CCD: diagnostic message number


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1702 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.11.99

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-1703, CCD: diagnostic message number slave 3


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
MPH
MPH

-
-
-
-

774/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1701, CCD: diagnostic message number


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1703 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.100 P-0-1704, CCD: diagnostic message number slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1701, CCD: diagnostic message number


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1704 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.101 P-0-1705, CCD: diagnostic message number slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1701, CCD: diagnostic message number


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1705 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 775/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.102 P-0-1706, CCD: diagnostic message number slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1701, CCD: diagnostic message number


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1706 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.103 P-0-1707, CCD: diagnostic message number slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1701, CCD: diagnostic message number


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1707 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.104 P-0-1708, CCD: diagnostic message number slave 8


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
-
MPH

-
-
-
-

776/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1701, CCD: diagnostic message number


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1708 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.105 P-0-1709, CCD: diagnostic message number slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1701, CCD: diagnostic message number


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1709 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.106 P-0-1710, CCD: signal status word, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1711, CCD: signal status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1710 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 777/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

--- / ----- / ---

-----

4.11.107 P-0-1711, CCD: signal status word, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

The parameter in the CCD master contains the bits which correspond to the
content of the signal status word (S-0-0144) in the CCD slave x.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

We distinguish the following cases for usage:

The signal status word of slave x is automatically configured and inter


preted only in the MLD system mode and in the CCD system mode.

In the CCD basic mode, the signal status word of slave x is not provided
with data.
Parameter P-0-1710 is reserved for the virtual slave in the master.
At present, "0" is displayed!

P-0-1711 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.108 P-0-1712, CCD: signal status word, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1711, CCD: signal status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1712 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
---

778/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

--- / ----- / ---

-----

4.11.109 P-0-1713, CCD: signal status word, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1711, CCD: signal status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1713 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.110 P-0-1714, CCD: signal status word, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1711, CCD: signal status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1714 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.111 P-0-1715, CCD: signal status word, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1711, CCD: signal status word, slave 1"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 779/1033


and Controls

Product-Specific Parameters
See also Functional Description "Cross Communication (CCD)"
P-0-1715 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.112 P-0-1716, CCD: signal status word, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1711, CCD: signal status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1716 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.113 P-0-1717, CCD: signal status word, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1711, CCD: signal status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1717 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

780/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.11.114 P-0-1718, CCD: signal status word, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1711, CCD: signal status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1718 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.115 P-0-1719, CCD: signal status word, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1711, CCD: signal status word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1719 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.116 P-0-1720, CCD: signal control word, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1721, CCD: signal control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 781/1033


and Controls

Product-Specific Parameters
P-0-1720 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.117 P-0-1721, CCD: signal control word, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

The parameter in the CCD master contains the bits which are written via the
CCD bus to the signal control word (S-0-0145) in the CCD slave x.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

We distinguish the following cases for usage:

In the MLD-M system mode, the parameter is written by the internal PLC.

In the CCD system mode with active field bus connection, the parameter
is evaluated by the internal profile interpreter.

In the CCD system mode with parallel interface and SERCOS master
communication, the parameter can be directly written.
Parameter P-0-1720 is reserved for the virtual slave in the master.
No function at present!

P-0-1721 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.118 P-0-1722, CCD: signal control word, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1721, CCD: signal control word, slave 1"

782/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Cross Communication (CCD)"
P-0-1722 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.119 P-0-1723, CCD: signal control word, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1721, CCD: signal control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1723 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.120 P-0-1724, CCD: signal control word, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1721, CCD: signal control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1724 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 783/1033


and Controls

Product-Specific Parameters

4.11.121 P-0-1725, CCD: signal control word, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1721, CCD: signal control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1725 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.122 P-0-1726, CCD: signal control word, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1721, CCD: signal control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1726 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.123 P-0-1727, CCD: signal control word, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1721, CCD: signal control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

784/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-1727 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.124 P-0-1728, CCD: signal control word, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1721, CCD: signal control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1728 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.125 P-0-1729, CCD: signal control word, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1721, CCD: signal control word, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1729 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 785/1033


and Controls

Product-Specific Parameters

4.11.126 P-0-1730, CCD: MDT real-time container 1, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

See also Parameter Description "P-0-1731, CCD: MDT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1730 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.127 P-0-1731, CCD: MDT real-time container 1, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

In the MLD-system mode (cf. P-0-1600), the parameters P-0-173x are used for
the real-time channel.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

Observe the following aspects for usage:

In the CCD system mode and in the CCD basic mode, the parameters can
be used as containers for copying.

Example:
Slave 1 transmits "P-0-0434" to AT -> master copies to "P-0-1731" and trans
mits "P-0-1731" to MDT for slave 1 as "S-0-0047".
P-0-1731 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

786/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.11.128 P-0-1732, CCD: MDT real-time container 1, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1731, CCD: MDT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1732 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.129 P-0-1733, CCD: MDT real-time container 1, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1731, CCD: MDT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1733 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.130 P-0-1734, CCD: MDT real-time container 1, slave 4


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 787/1033


and Controls

Product-Specific Parameters
Function

See also Parameter Description "P-0-1731, CCD: MDT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1734 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.131 P-0-1735, CCD: MDT real-time container 1, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1731, CCD: MDT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1735 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.132 P-0-1736, CCD: MDT real-time container 1, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1731, CCD: MDT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1736 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

788/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

--- / ----- / ---

-----

4.11.133 P-0-1737, CCD: MDT real-time container 1, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1731, CCD: MDT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1737 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.134 P-0-1738, CCD: MDT real-time container 1, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1731, CCD: MDT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1738 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.135 P-0-1739, CCD: MDT real-time container 1, slave 9


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
-
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 789/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1731, CCD: MDT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1739 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.136 P-0-1740, CCD: MDT real-time container 2, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

See also Parameter Description "P-0-1741, CCD: MDT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1740 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.137 P-0-1741, CCD: MDT real-time container 2, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

In the MLD-system mode (cf. P-0-1600), the parameters P-0-174x are used for
the real-time channel.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

Observe the following aspects for usage:

790/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

In the CCD system mode and in the CCD basic mode, the parameters can
be used as containers for copying.

Example:
Slave 1 transmits "S-0-0040" to AT -> master copies to "P-0-1741" and trans
mits "P-0-1741" to MDT for slave 1 as "S-0-0036".
P-0-1741 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.138 P-0-1742, CCD: MDT real-time container 2, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1741, CCD: MDT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1742 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.139 P-0-1743, CCD: MDT real-time container 2, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1741, CCD: MDT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1743 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 791/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.140 P-0-1744, CCD: MDT real-time container 2, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1741, CCD: MDT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1744 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.141 P-0-1745, CCD: MDT real-time container 2, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1741, CCD: MDT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1745 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.142 P-0-1746, CCD: MDT real-time container 2, slave 6


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
MPH
MPH

-
-
-
-

792/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1741, CCD: MDT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1746 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.143 P-0-1747, CCD: MDT real-time container 2, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1741, CCD: MDT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1747 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.144 P-0-1748, CCD: MDT real-time container 2, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1741, CCD: MDT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1748 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 793/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.145 P-0-1749, CCD: MDT real-time container 2, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1741, CCD: MDT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1749 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.146 P-0-1750, CCD: MDT real-time container 3, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

See also Parameter Description "P-0-1751, CCD: MDT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1750 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.147 P-0-1751, CCD: MDT real-time container 3, slave 1


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
MPH
MPH

-
-
-
-

794/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

In the MLD-system mode (cf. P-0-1600), the parameters P-0-175x are used for
the real-time channel.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

Observe the following aspects for usage:

In the CCD system mode and in the CCD basic mode, the parameters can
be used as containers for copying.

Example:
PLC writes data to "P-0-1751", master transmits "P-0-1751" to MDT for slave 1
as "S-0-0282".
P-0-1751 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.148 P-0-1752, CCD: MDT real-time container 3, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1751, CCD: MDT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1752 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.149 P-0-1753, CCD: MDT real-time container 3, slave 3


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
MPH
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 795/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1751, CCD: MDT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1753 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.150 P-0-1754, CCD: MDT real-time container 3, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1751, CCD: MDT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1754 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.151 P-0-1755, CCD: MDT real-time container 3, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1751, CCD: MDT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1755 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

796/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.152 P-0-1756, CCD: MDT real-time container 3, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1751, CCD: MDT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1756 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.153 P-0-1757, CCD: MDT real-time container 3, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1751, CCD: MDT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1757 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.154 P-0-1758, CCD: MDT real-time container 3, slave 8


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
-
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 797/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1751, CCD: MDT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1758 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.155 P-0-1759, CCD: MDT real-time container 3, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1751, CCD: MDT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1759 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.156 P-0-1760, CCD: MDT real-time container 4, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

See also Parameter Description "P-0-1761, CCD: MDT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1760 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

798/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.157 P-0-1761, CCD: MDT real-time container 4, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

In the MLD-system mode (cf. P-0-1600), the parameters P-0-176x are used for
the real-time channel.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

Observe the following aspects for usage:

In the CCD system mode and in the CCD basic mode, the parameters can
be used as containers for copying.

Example:
PLC writes data to "P-0-1761", master transmits "P-0-1761" to MDT for slave 1
as "S-0-0282".
P-0-1761 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.158 P-0-1762, CCD: MDT real-time container 4, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1761, CCD: MDT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1762 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 799/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

--- / ----- / ---

-----

4.11.159 P-0-1763, CCD: MDT real-time container 4, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1761, CCD: MDT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1763 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.160 P-0-1764, CCD: MDT real-time container 4, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1761, CCD: MDT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1764 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.161 P-0-1765, CCD: MDT real-time container 4, slave 5


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
MPH
MPH

-
-
-
-

800/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1761, CCD: MDT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1765 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.162 P-0-1766, CCD: MDT real-time container 4, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1761, CCD: MDT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1766 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.163 P-0-1767, CCD: MDT real-time container 4, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1761, CCD: MDT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1767 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 801/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.164 P-0-1768, CCD: MDT real-time container 4, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1761, CCD: MDT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1768 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.165 P-0-1769, CCD: MDT real-time container 4, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1761, CCD: MDT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1769 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.166 P-0-1770, CCD: AT real-time container 1, master


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
MPH
MPH

-
-
-
-

802/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-motion logic

See also Parameter Description "P-0-1771, CCD: AT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1770 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.167 P-0-1771, CCD: AT real-time container 1, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

In the MLD-system mode (cf. P-0-1600), the parameters P-0-177x are used for
the real-time channel.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"
Example:
Slaves transmits "S-0-0051" to AT, master copies content of AT to "P01771".
In the master, "P-0-1771" is used for internal processing.

P-0-1771 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.168 P-0-1772, CCD: AT real-time container 1, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1771, CCD: AT real-time container 1,


slave 1"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 803/1033


and Controls

Product-Specific Parameters
See also Functional Description "Cross Communication (CCD)"
P-0-1772 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.169 P-0-1773, CCD: AT real-time container 1, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1771, CCD: AT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1773 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.170 P-0-1774, CCD: AT real-time container 1, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1771, CCD: AT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1774 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

804/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.11.171 P-0-1775, CCD: AT real-time container 1, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1771, CCD: AT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1775 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.172 P-0-1776, CCD: AT real-time container 1, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1771, CCD: AT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1776 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.173 P-0-1777, CCD: AT real-time container 1, slave 7


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 805/1033


and Controls

Product-Specific Parameters
Function

See also Parameter Description "P-0-1771, CCD: AT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1777 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.174 P-0-1778, CCD: AT real-time container 1, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1771, CCD: AT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1778 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.175 P-0-1779, CCD: AT real-time container 1, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1771, CCD: AT real-time container 1,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1779 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

806/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

--- / ----- / ---

-----

4.11.176 P-0-1780, CCD: AT real-time container 2, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

See also Parameter Description "P-0-1781, CCD: AT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1780 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.177 P-0-1781, CCD: AT real-time container 2, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

In the MLD-system mode (cf. P-0-1600), the parameters P-0-178x are used for
the real-time channel.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"
Example:
Slaves transmits "S-0-0040" to AT, master copies content of AT to "P01781".
In the master, "P-0-1781" is used for internal processing.

P-0-1781 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 807/1033


and Controls

Product-Specific Parameters

4.11.178 P-0-1782, CCD: AT real-time container 2, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1781, CCD: AT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1782 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.179 P-0-1783, CCD: AT real-time container 2, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1781, CCD: AT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1783 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.180 P-0-1784, CCD: AT real-time container 2, slave 4


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

808/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

See also Parameter Description "P-0-1781, CCD: AT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1784 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.181 P-0-1785, CCD: AT real-time container 2, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1781, CCD: AT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1785 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.182 P-0-1786, CCD: AT real-time container 2, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1781, CCD: AT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1786 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 809/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

--- / ----- / ---

-----

4.11.183 P-0-1787, CCD: AT real-time container 2, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1781, CCD: AT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1787 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.184 P-0-1788, CCD: AT real-time container 2, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1781, CCD: AT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1788 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.185 P-0-1789, CCD: AT real-time container 2, slave 9


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
-
MPH

-
-
-
-

810/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1781, CCD: AT real-time container 2,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1789 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.186 P-0-1790, CCD: AT real-time container 3, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

See also Parameter Description "P-0-1791, CCD: AT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1790 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.187 P-0-1791, CCD: AT real-time container 3, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

In the MLD-system mode (cf. P-0-1600), the parameters P-0-179x are used for
the real-time channel.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"
Example:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 811/1033


and Controls

Product-Specific Parameters
Slaves transmits "S-0-0084" to AT, master copies content of AT to "P01791".
In the master, "P-0-1791" is used for internal processing.
P-0-1791 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.188 P-0-1792, CCD: AT real-time container 3, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1791, CCD: AT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1792 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.189 P-0-1793, CCD: AT real-time container 3, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1791, CCD: AT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1793 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
---

812/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

--- / ----- / ---

-----

4.11.190 P-0-1794, CCD: AT real-time container 3, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1791, CCD: AT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1794 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.191 P-0-1795, CCD: AT real-time container 3, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1791, CCD: AT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1795 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.192 P-0-1796, CCD: AT real-time container 3, slave 6


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
MPH
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 813/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

See also Parameter Description "P-0-1791, CCD: AT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1796 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.193 P-0-1797, CCD: AT real-time container 3, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1791, CCD: AT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1797 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.194 P-0-1798, CCD: AT real-time container 3, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1791, CCD: AT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1798 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

814/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.195 P-0-1799, CCD: AT real-time container 3, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1791, CCD: AT real-time container 3,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1799 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.196 P-0-1800, CCD: AT real-time container 4, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-motion logic

-
-
MPH
MPH

-
-
-
-

See also Parameter Description "P-0-1801, CCD: AT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1800 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.197 P-0-1801, CCD: AT real-time container 4, slave 1


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
MPH
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 815/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

drives optional card


"open loop", "closed loop"

In the MLD-system mode (cf. P-0-1600), the parameters P-0-180x are used for
the real-time channel.
Note: The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"
Example:
Slaves transmits "P-0-0303" to AT, master copies content of AT to "P01801".
In the master, "P-0-1801" is used for internal processing.

P-0-1801 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.198 P-0-1802, CCD: AT real-time container 4, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1801, CCD: AT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1802 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.199 P-0-1803, CCD: AT real-time container 4, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1801, CCD: AT real-time container 4,


slave 1"

816/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
See also Functional Description "Cross Communication (CCD)"
P-0-1803 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.200 P-0-1804, CCD: AT real-time container 4, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1801, CCD: AT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1804 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.201 P-0-1805, CCD: AT real-time container 4, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1801, CCD: AT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1805 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 817/1033


and Controls

Product-Specific Parameters

4.11.202 P-0-1806, CCD: AT real-time container 4, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1801, CCD: AT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1806 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.203 P-0-1807, CCD: AT real-time container 4, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1801, CCD: AT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1807 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.204 P-0-1808, CCD: AT real-time container 4, slave 8


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

818/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

See also Parameter Description "P-0-1801, CCD: AT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1808 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.205 P-0-1809, CCD: AT real-time container 4, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1801, CCD: AT real-time container 4,


slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1809 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.206 P-0-1810, CCD: status word synchronous operating modes, master


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

In preparation!
See also Functional Description "Cross Communication (CCD)"

P-0-1810 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 819/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

--- / ----- / ---

-----

4.11.207 P-0-1811, CCD: status word synchronous operating modes, slave 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

This parameter displays the status word of the synchronous operating mode of
CCD slave x in the CCD master which is transmitted by CCD slave x in the
motion channel (AT) of MLD-M.
The character "x" is the slave number e.g. slave "1"!
See also Functional Description "Cross Communication (CCD)"

Use

The following has to be observed for usage:

P-0-1811 - Attributes

Data are only transmitted to this parameter with active MLD-M, i.e. in the
MLD system mode (cf. P-0-1600).

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.208 P-0-1812, CCD: status word synchronous operating modes, slave 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also "P-0-0089, Status word for synchronous operating modes"


See also Functional Description "Cross Communication (CCD)"

P-0-1812 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

820/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.11.209 P-0-1813, CCD: status word synchronous operating modes, slave 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also "P-0-0089, Status word for synchronous operating modes"


See also Functional Description "Cross Communication (CCD)"

P-0-1813 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.210 P-0-1814, CCD: status word synchronous operating modes, slave 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also "P-0-0089, Status word for synchronous operating modes"


See also Functional Description "Cross Communication (CCD)"

P-0-1814 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.211 P-0-1815, CCD: status word synchronous operating modes, slave 5


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also "P-0-0089, Status word for synchronous operating modes"


See also Functional Description "Cross Communication (CCD)"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 821/1033


and Controls

Product-Specific Parameters
P-0-1815 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.212 P-0-1816, CCD: status word synchronous operating modes, slave 6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also "P-0-0089, Status word for synchronous operating modes"


See also Functional Description "Cross Communication (CCD)"

P-0-1816 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.213 P-0-1817, CCD: status word synchronous operating modes, slave 7


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also "P-0-0089, Status word for synchronous operating modes"


See also Functional Description "Cross Communication (CCD)"

P-0-1817 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

822/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.11.214 P-0-1818, CCD: status word synchronous operating modes, slave 8


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1811, CCD: status word synchronous


operating modes, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1818 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.215 P-0-1819, CCD: status word synchronous operating modes, slave 9


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
drives optional card
"open loop", "closed loop"

-
-
-
-

See also Parameter Description "P-0-1811, CCD: status word synchronous


operating modes, slave 1"
See also Functional Description "Cross Communication (CCD)"

P-0-1819 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

4.11.216 P-0-1843, SERCOS III: error counter Port-1


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 823/1033


and Controls

Product-Specific Parameters
Function

These list parameters display the telegram errors of the SERCOS III FPGAs
according to SERCOS III for the corresponding Port.
Element

FPGA errors

Counter for received Ethernet frames with FCS error

Counter for received Ethernet frames with an alignment error

Counter for discarded receive Ethernet frames based on missing rx


buffer ressources

Counter for discarded forwarding Ethernet frames based on missing


collision buffer ressources

Counter for Ethernet frames which violate the IP channel window

Fig.4-231:

FPGA errors

The counters stop at FFFFH. The counts are retained in the case of phase re
gression and automatically cleared by the drive during the phase switch from
phase 2 to phase 3.
The parameters were implemented preliminarily, the definite pa
rameter number and structure will be defined by SERCOS TWG.
See also Functional Description "SERCOS III"
P-0-1843 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

4.11.217 P-0-1844, SERCOS III: error counter Port-2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

These list parameters display the telegram errors of the SERCOS III FPGAs
according to SERCOS III for the corresponding Port.
Element

FPGA errors

Counter for received Ethernet frames with FCS error

Counter for received Ethernet frames with an alignment error

Counter for discarded receive Ethernet frames based on missing rx


buffer ressources

824/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Element

FPGA errors

Counter for discarded forwarding Ethernet frames based on missing


collision buffer ressources

Counter for Ethernet frames which violate the IP channel window

Fig.4-232:

FPGA errors

The counters stop at FFFFH. The counts are retained in the case of phase re
gression and automatically cleared by the drive during the phase switch from
phase 2 to phase 3.
The parameters were implemented preliminarily, the definite pa
rameter number and structure will be defined by SERCOS TWG.
See also Functional Description "SERCOS III"
P-0-1844 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

nein
----

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.218 P-0-1845, CC: basic parameters


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!

P-0-1845 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
----

see

Technical

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.219 P-0-1846, CC: connection #1


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
MPB

Note

-
-
-
MPH

-
-
-
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 825/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

optional master communication card


"open loop", "closed loop"

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!

P-0-1846 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

see

P2
P2->P3
---

Technical

Note

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.220 P-0-1847, CC: connection #2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!

P-0-1847 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

see

P2
P2->P3
---

Technical

Note

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.221 P-0-1848, CC: connection #3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!

P-0-1848 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
---

see

Technical

Note

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

826/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

min./max.
--- / ----- / ----- / ---

Default value
-------

4.11.222 P-0-1849, CC: connection #4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The text of the description is in preparation!


For
up-to-date
information,
"TN_331_CC_Connection_SERCOS3.doc"!

P-0-1849 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P2
P2->P3
---

see

Technical

Note

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.12

P-0-2000 - P-0-2999 General Device Parameters

4.12.1

P-0-2002, Oper. hours of contr. sect. at change of functional packages


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used in conjunction with the enabling of functional packages.


In parameter "P02002" the count of the operating hours counter of the control
section, at the time of a change in the functional package selection in "P02003,
Selection of functional packages", is stored.
The value is stored on the control section and therefore gets lost
when the device is replaced. Parameter P02002 cannot be
changed but only be read.
See also Functional Description "Enabling of Functional Packages"
See also Functional Description "Functional Packages"

P-0-2002 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
Editability:
ON_BOARD_SPValidity ch.:
s
Extr. val. ch.:
-Comb. check:

nein
----

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 827/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.12.2

--- / ----- / ---

-----

P-0-2003, Selection of functional packages


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Parameter P02003 is used in conjunction with the enabling of functional pack


ages to select the desired and licensed functional packages. It is possible that
functional packages are enabled ("ALL") that may only be used alternatively
(MSP, SNC, SRV) among each other. The effective alternative package is se
lected by means of P02003.
See also Functional Description "Enabling of Functional Packages"
See also Functional Description "Functional Packages"

Structure

The individual bits of the parameter are not explained in detail in this docu
mentation, because they are irrelevant for the user.
The structure of P-0-2003 corresponds to that of P-0-2004!

Use

P-0-2003 - Attributes

Observe the following aspects for parameter setting:

When switching from parameter mode (PM) to operating mode (BM), the
parameter is marked as being invalid if enabled functional packages have
been selected that may only be active alternatively.

Changes of this parameter only take effect at the next restart of the drive.

With the safety technology option (S1) having been plugged, it is impos
sible to activate the functional package "open-loop".

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.12.3

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-2004, Active functional packages


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains the active functional packages.


When booting the functional packages selected in P02003 are activated and
then the respective bits are set or cleared in P02004. This allows recognizing
at any time which functional packages are actually active.

828/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
This parameter can neither be written nor stored. It is for display
only.
See also Functional Description "Enabling of Functional Packages"
See also Functional Description "Functional Packages"
P-0-2004 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.12.4

nein
----

Data length: 4Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-2051, Operating hours counter, motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter displays the current count of the operating hours counter of the
motor. The operating hours counter records the duration of three different op
erating states:

motor enabled (AF, electric load)

motor in motion (actual velocity unequal "0")

motor temperature less than 10K away from "S-0-0204, Motor shutdown
temperature"

See Functional Description "Diagnostic Data of Motor Operation"


Structure

List parameter with three elements


List el Operating time
ement

Default Unit
value

Definition

duration drive
enable

0.0

duration during which drive enable (AF)


had been set for the motor

duration motion 0.0

duration during which the actual velocity of


the motor was unequal "0" (or >S-0-0124?)

duration motor
warning tem
perature

duration during which the motor tempera


ture was less than 10K below the switchoff threshold

Fig.4-233:
Use

0.0

List elements P-0-2051, Operating hours counter, motor

The parameter can be written in the parameter mode (PM). For Rexroth motors
of the "IndraDyn S" and "IndraDyn A" ranges as of the 3rd quarter of year 2007
with encoder option "1", "2" or "6" (motor type code section no. 18), the values
from the encoder data memory of the motor (P-0-3051), when switching to the
operating mode (bb, Ab, OM), are compared to the values of P-0-2051 and
synchronized, if necessary.
For motors without encoder data memory, the values of P-0-2051 remain un
changed when switching to the operating mode (bb, Ab, OM). After switching

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 829/1033


and Controls

Product-Specific Parameters
to the operating mode, time recording continues on the basis of the values of
P-0-2051, when the corresponding time recording criterion has been fulfilled.
P-0-2051 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.12.5

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-2052, Thermal operating data, motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

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 measurement!
This is impossible for temperature sensors with switching perform
ance!

See Functional Description "Diagnostic Data of Motor Operation"


Structure

List parameter with three elements


List ele Operating time Default Unit
ment
value
0
maximum tem 0.0
C
perature
1
average temper 0.0
C
ature

Fig.4-234:
Use

Definition
maximum winding temperature which ever
occurred during the operating time (AF)
average winding temperature, averaged
over the total operating time (AF) of the mo
tor

List elements P-0-2052, Thermal operating data, motor

The parameter can be written in the parameter mode (PM). For Rexroth motors
of the "IndraDyn S" and "IndraDyn A" ranges as of the 3rd quarter of year 2007
with encoder option "1", "2" or "6" (motor type code section no. 18), the values
from the encoder data memory of the motor (P-0-3052), when switching to the
operating mode (bb, Ab, OM), are compared to the values of P-0-2052 and
synchronized, see Functional Description.
For motors without encoder data memory, the values of P-0-2052 remain un
changed when switching to the operating mode (bb, Ab, OM). After switching
to the operating mode, temperature operating data measurement continues on
the basis of the values of P-0-2052, when the measurement criteria have been
fulfilled.

P-0-2052 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
--

Data length:
Format:

2Byte var.
DEC_MV

830/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
C
Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.12.6

Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-2053, Mechanical operating data, motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

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 three elements


List el Operating time
ement
0

maximum ve
locity

average veloci 0
ty

Fig.4-235:
Use

Default Unit
value
0

Definition

S-0-00 maximum velocity of motor which ever oc


44
curred during the operating time (AF)
S-0-00 average velocity of motor, averaged over
44
the total operating time (AF) of the motor

List elements P-0-2053, Mechanical operating data, motor

The parameter can be written in the parameter mode (PM). For Rexroth motors
of the "IndraDyn S" and "IndraDyn A" ranges as of the 3rd quarter of year 2007
with encoder option "1", "2" or "6" (motor type code section no. 18), the values
from the encoder data memory of the motor (P-0-3053), when switching to the
operating mode (bb, Ab, OM), are compared to the values of P-0-2053 and
synchronized, see Functional Description.
For motors without encoder data memory, the values of P-0-2053 remain un
changed when switching to the operating mode (bb, Ab, OM).
After switching to the operating mode, measurement of the mechanical oper
ating data continues on the basis of the values of P-0-2053, when the meas
urement criteria have been fulfilled.

P-0-2053 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
--

Unit:

--

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


--- / ----- / ----- / ---

Data length:
Format:

4Byte var.
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 831/1033


and Controls

Product-Specific Parameters

4.12.7

P-0-2054, Operational performance, motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter displays the current operational performance of the motor. De


pending on "P-0-4014, Type of construction of motor", bit 9, the unit is switched
between "1000 rev" and "m".
This parameter displays the current status of the operational performance of
the motor. The operational performance is determined from the current values
of:

P-0-2051, Operating hours counter, motor, "list element 1, duration mo


tion" - and -

P-0-2053, Mechanical operating data, motor, "list element 1, average ve


locity"

See Functional Description "Diagnostic Data of Motor Operation"


P-0-2054 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-P-0-4014
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.12.8

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
P-0-4014
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-2055, Serial number, motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

For Rexroth motors of the "IndraDyn S" and "IndraDyn A" ranges as of the 3rd
quarter of year 2007 with encoder option "1", "2" or "6" (motor type code section
no. 18), the serial number of the motor is automatically entered in this param
eter. It is used to identify the motor currently connected to the controller. This
allows recognizing whether the motor connected to the controller was replaced.
Depending on the connected motor, the operating data stored in the motor en
coder 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:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
---

832/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.12.9

--- / ----- / ---

-----

P-0-2100, Velocity loop proportional gain, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The parameter contains the initial value (default) for the proportional gain of the
velocity controller.
This value is stored in the encoder data memory. During the basic load (loading
controller parameters) the content of P-0-2100 parameter is copied to the
S-0-0100 parameter.
S-0-0100 and P-0-2100 have different units and a different number
of decimal places!
See also Functional Description "Velocity Loop"
See also Parameter Description "S-0-0100, Velocity controller proportional
gain"

P-0-2100 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
P-0-3100
--

Input
MPB:
MPD:
MPH:

4.12.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: P-0-3100


Format:
DEC_OV
Decim. pl.:
P-0-3100
set switchable: --

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
-------

P-0-2101, Velocity loop integral-action time, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The parameter contains the initial value (default) for the integral-action time of
the integrator in the velocity controller.
This value is stored in the encoder data memory. During the basic load (loading
controller parameters) the content of the P-0-2101 parameter is copied to the
S-0-0101 parameter.
See also Functional Description "Velocity Loop"
See also Parameter Description "S-0-0101, Velocity loop integral-action time"

P-0-2101 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
FEEDB_I2C
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
StdNul / StdUMax

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 833/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.12.11

StdNul / StdUMax
StdNul / StdUMax

-----

P-0-2104, Position loop Kv-factor, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The parameter contains the initial value (default) for the proportional gain of the
position controller.
This value is stored in the encoder data memory. During the basic load (loading
controller parameters) the content of the P-0-2104 parameter is copied to the
S-0-0104 parameter.
See also Parameter Description "S-0-0104, Position loop Kv-factor"

P-0-2104 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
1000/min
--

Input
MPB:
MPD:
MPH:

4.12.12

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
-------

P-0-2106, Current loop proportional gain 1, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter contains the appropriate value for "S00106, Current loop pro
portional gain 1" for operating the connected motor, at a PWM switching
frequency of 4000 Hz.
See Parameter Description "P-0-0001, Switching frequency of the power output
stage"

Use

This value is stored in the encoder data memory, e.g. in the case of the motor
types MSK, MHD, MKD, MKE and possibly MAD and MAF. During the load
defaults procedure (load controller parameters) the parameter P02106 is con
verted to parameter S00106, depending on the current setting in "P00001,
Switching frequency of the power output stage" and the parameterized per
formance setting in "P00556, Control word of axis controller".
You mustn't change the values for the current controller that have
been set at the factory.

P-0-2106 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
V/A
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

834/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.12.13

min./max.
StdNul / Max50T
StdNul / Max50T
StdNul / Max50T

Default value
-------

P-0-2107, Current loop integral-action time 1, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The parameter contains the appropriate value for the integral-action time of the
integrator in the current controller for the connected motor.
This value is stored in the encoder data memory. During the load defaults pro
cedure (loading controller parameters) the P02107 parameter is copied to the
S00107 parameter.
You mustn't change the values for the current controller that have
been set at the factory.
See also Parameter Description "S00107"

P-0-2107 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
ms
--

Input
MPB:
MPD:
MPH:

4.12.14

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
-------

P-0-2109, Motor peak current, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value available in the encoder data memory for the maximum current that can
temporarily flow in the motor without the motor being destroyed.
In the case of MHD, MKD and MKE motors the value is copied to the effective
"S00109, Motor peak current" parameter when the controller is switched on.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-2109 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
FEEDB_I2C
P-0-3100
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
StdNul / Max500T

Data length: P-0-3100


Format:
DEC_OV
Decim. pl.:
P-0-3100
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 835/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.12.15

StdNul / Max500T
StdNul / Max500T

-----

P-0-2111, Motor current at standstill, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value available in the encoder data memory for the current that can continu
ously flow in the motor without the motor being destroyed.
In the case of MHD, MKD and MKE motors the value is copied to the effective
"S00111, Motor current at standstill" parameter when the controller is switch
ed on.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-2111 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
P-0-3100
--

Input
MPB:
MPD:
MPH:

4.12.16

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: P-0-3100


Format:
DEC_OV
Decim. pl.:
P-0-3100
set switchable: --

min./max.
StdNul / Max500T
StdNul / Max500T
StdNul / Max500T

Default value
-------

P-0-2113, Maximum velocity of motor, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value available in the encoder data memory for the maximum possible motor
speed.
In the case of MHD, MKD and MKE motors the value is copied to the effective
"S00113, Maximum motor speed (nmax)" parameter when the controller is
switched on.
See also Functional Description "Velocity Limitation"
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-2113 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
FEEDB_I2C
Rpm
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
StdOne / 250000,0000
StdOne / 250000,0000
StdOne / 250000,0000

Default value
-------

836/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.12.17

P-0-2141, Motor type, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Text for the motor type stored in the encoder data memory. During the "load
defaults procedure" (loading controller parameters) the content of this param
eter is copied to the S00141 parameter. This is only possible with BRC
housing motors with encoder data memory like MHD, MKD and MKE, for ex
ample!
The "F2008 RL The motor type has changed." diagnostic message is based on
the comparison of S00141 and P02141.
Examples:
MKD 071B-061-KP1-BN
MKE 096B-047-GG0-KN
See also Functional Description "Rexroth Motors"

P-0-2141 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.12.18

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-2204, Motor shutdown temperature, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Value available in the encoder data memory for the maximum allowed operating
temperature of the motor.
In the case of MSK, MHD, MKD, MKE and, if required, MAD and MAF motors,
the value is copied to the effective parameter "S00204, Motor shutdown tem
perature" when the controller is switched on.
See also Functional Description "Rexroth Motors"

P-0-2204 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
FEEDB_I2C
C
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 837/1033


and Controls

Product-Specific Parameters

4.12.19

P-0-2206, Drive On delay time, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value available in the encoder data memory for the release delay of the motor
holding brake.
In the case of MSK and, if required, MAD and MAF motors, the value is copied
to the effective parameter S00206, Drive on delay time when the controller is
switched on.

P-0-2206 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
ms
--

Input
MPB:
MPD:
MPH:

4.12.20

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-2207, Drive Off delay time, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value available in the encoder data memory for the clamping delay of the motor
holding brake.
In the case of MSK and, if required, MAD and MAF motors, the value is copied
to the effective parameter "S00207, Drive off delay time" when the controller
is switched on.

P-0-2207 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
ms
--

Input
MPB:
MPD:
MPH:

4.12.21

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-2216, Parameter set switching, configuration


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

-
MPH
MPH
MPH

-
-
-
-

838/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

With this parameter, parameter set switching is configured. You determine the
parameter groups which are included in parameter set switching and you can
parameterize the switching behavior.
As of MP*04VRS, parameter set switching for all parameter groups
can be started in the operating mode, too.
See also Functional Description "Parameter Set Switching"

Structure

The individual bits of the parameter have the following significance:


Bit

Designation/function

Comment

4-0

parameter group selection

only as of
MP*04VRS

bit 0: group application parameters


0: cannot be switched
1: can be switched
bit 1: group control loop parameters
0: cannot be switched
1: can be switched
bit 2: group load gear parameters
0: cannot be switched
1: can be switched
bit 3: group winding parameters
0: cannot be switched
1: can be switched
bit 4: group encoder parameters
0: cannot be switched
1: can be switched
7-5

not used

activation of "drive-controlled parameter set switching"


0: deactivated

only as of
MP*04VRS

1: "drive-controlled parameter set switching" is active


14-9

not used

15

activation of "maintain reference bit at gear switching"

See note!

0: deactivated

only as of
1: although the reference position gets lost, the reference MP*04VRS
bit is not cleared at gear switching

Fig.4-236:
Use

P-0-2216, Parameter set switching, configuration

The following has to be observed for usage:

It is possible to select none, several or all parameter groups for parameter


set switching.

The parameters which are combined in the respective group are described
in chapter "Parameter Set Switching" of the Functional Description!

Which parameters are really switched can be checked in parameter


"S00219, IDN-list of parameter set" immediately after changing
P02216.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 839/1033


and Controls

Product-Specific Parameters

If the gear ratio changes at gear switching, the exact reference position
cannot be guarantied any more! This is signaled by the fact that the ref
erence bits in "S00403, Position feedback value status" are cleared.

Some control units do not allow motion when S00403 = 0. To move the
axis nevertheless, you can avoid the clearing of the reference bits by ac
tivating "maintain reference bit", although the reference got lost.
Reference is only safely reestablished, when a new homing proce
dure was executed!

P-0-2216 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.12.22

PM
PM->OM
-+

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-2217, Parameter set switching, preselection range


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPB
MPB
MPB
-main spindle

-
MPH
MPH
MPH

-
-
-
-

This parameter determines how many switchable parameter sets are available
in the drive firmware.
See also Functional Description "Parameter Set Switching"

Use

Parameter set No.


Value in P-0-2217

0
1
2
3
4
5
6
7

Fig.4-237:
P-0-2217 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Preselecting parameter sets for parameter set switching


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
0/7

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0

840/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.12.23

0/7
0/7

0
0

P-0-2218, Parameter set switching, delay time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-main spindle

-
-
MPH
MPH

-
-
-
-

In this parameter you can enter a delay time for defined delay of parameter set
switching.
See also Functional Description "Parameter Set Switching"

Use

P-0-2218 - Attributes

The following has to be observed for usage:

The delay time only takes effect with active parameter group "winding pa
rameters" or "encoder parameters".

The delay time is used to wait for successful switching of the motor con
tactors in the case of winding or encoder switching.

With active parameter group "winding parameters" switching on drive en


able again is delayed, with active parameter group "encoder parameters"
the internal start of command C02 is delayed.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
AT + MDT

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
PM->OM
---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 60000
0 / 60000
0 / 60000

Default value
0
0
0

4.13

P-0-3000 - P-03199 Encoder Memory

4.13.1

P-0-3000, Module code of motor, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

This parameter contains the identification data for motors with encoder data
memory. For MSK and, if required, MAD and MAF motors the parameter is
stored in the encoder data memory and is written once when the motor is man
ufactured.
In case the encoder is replaced, the elements 3 and 4 of P03000
are cleared (i.e. the content is "0") for motors with encoder data
memory. This signals that the parameter contents are no longer
corresponding to the condition as supplied.

Use

The list parameter contains the following elements:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 841/1033


and Controls

Product-Specific Parameters
Element no.

Function

module designation (1)

module designation (2)

module designation (3)

part number

serial number

module firmware code

release/revision index

writing cycles

Fig.4-238:

Elements of parameter P-0-1511

The firmware of the controller identifies the following parameters from the mod
ule firmware code:

P-0-3000 - Attributes

P-0-3100, Version of data structure in encoder memory

P-0-4014, Type of construction of motor

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.13.2

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3001, Encoder type 1 (motor encoder), encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Value for the encoder type of the motor encoder stored in the encoder data
memory. The content of this parameter is copied to the effective parameter
"P00074, Encoder type 1 (motor encoder)" when the controller is switched on.
This is only possible with BRC housing motors with encoder data memory of
the type MSK and possibly MAD and MAF!
See also Functional Description "Rexroth Motors"

P-0-3001 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
FEEDB_I2C
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

842/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.13.3

P-0-3002, Number of pole pairs/pole pair distance, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value for the number of pole pairs or the pole pair distance of the motor stored
in the encoder data memory. The content of this parameter is copied to the
effective parameter "P00018, Number of pole pairs/pole pair distance" when
the controller is switched on. This is only possible with BRC housing motors
with encoder data memory like MHD, MKD and MKE, for example!
See also Functional Description "Rexroth Motors"
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-3002 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
Pole pairs
--

Input
MPB:
MPD:
MPH:

4.13.4

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdOne / 2000
StdOne / 2000
StdOne / 2000

Default value
-------

P-0-3003, Rotor inertia, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value for the rotor inertia of the motor stored in the encoder data memory. The
content of this parameter is copied to the effective parameter "P00510, Rotor
inertia" when the controller is switched on. This is only possible with BRC hous
ing motors with encoder data memory like MHD, MKD and MKE, for example!
See also Functional Description "Rexroth Motors"
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-3003 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
kgm2
--

Input
MPB:
MPD:
MPH:

4.13.5

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
5
set switchable: --

min./max.
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T

Default value
-------

P-0-3004, Speed loop smoothing time constant, encoder memory


Allocation

Contained in 02VRS:
Contained in 03VRS:

MPB
MPB

MPH
MPH

MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 843/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPB
-closed loop

MPH
MPH

MPD
MPD

The parameter contains the initial value (default) for the smoothing time con
stant of the actual speed value and the speed command value.
See also Functional Description "Velocity Loop"

Use

This value is stored in the encoder data memory. During the load defaults pro
cedure (loading controller parameters) the P03004 parameter is copied to the
P00004 parameter.
See also Parameter Description "P-0-0004, Velocity loop smoothing time con
stant"

P-0-3004 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
us
--

Input
MPB:
MPD:
MPH:

4.13.6

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
250 / 65500
250 / 65500
250 / 65500

Default value
-------

P-0-3005, Torque/force constant, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value for the torque/force constant of the motor stored in the encoder data
memory. The content of this parameter is copied to the effective parameter
"P00051, Torque/force constant" when the controller is switched on. This is
only possible with BRC housing motors with encoder data memory like MHD,
MKD and MKE, for example!
See also Functional Description "Rexroth Motors"
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-3005 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
P-0-3100
--

Input
MPB:
MPD:
MPH:

4.13.7

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: P-0-3100


Format:
DEC_OV
Decim. pl.:
P-0-3100
set switchable: --

min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong

Default value
-------

P-0-3006, Rated motor speed, encoder memory


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

844/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-closed loop

Value stored in the encoder data memory for the rated speed of an asynchro
nous motor.
For MAD and MAF motors with encoder data memory the value is copied to the
effective parameter "P04036, Rated motor speed" when the controller is
switched on.

P-0-3006 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
Rpm
--

Input
MPB:
MPD:
MPH:

4.13.8

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: --

min./max.
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong

Default value
-------

P-0-3007, Stator resistance, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value for the stator resistance of the motor stored in the encoder data memory.
The content of this parameter is copied to the effective parameter "P04048,
Stator resistance" when the controller is switched on. This is only possible with
BRC housing motors with encoder data memory like MHD, MKD and MKE, for
example!
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-3007 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
Ohm
--

Input
MPB:
MPD:
MPH:

4.13.9

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
-------

P-0-3008, Commutation offset, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value for the commutation offset of the synchronous motor stored in the en
coder data memory. The content of this parameter is copied to the effective
parameter "P00508, Commutation offset" when the controller is switched on.
This is only possible with BRC housing motors with encoder data memory like
MHD, MKD and MKE, for example!

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 845/1033


and Controls

Product-Specific Parameters
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-3008 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.13.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdNul / 1024
StdNul / 1024
StdNul / 1024

Default value
-------

P-0-3009, Holding brake control word, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Bit 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 written
to the bits 0 and 2 of the effective parameter "P00525, Holding brake control
word" when the controller is switched on. All other bits of P00525 can be freely
written.

P-0-3009 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.13.11

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3010, Torque of motor holding brake, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value for the nominal torque of the motor holding brake stored in the encoder
data memory.
The content of this parameter is copied to the effective parameter "P00540,
Torque of motor holding brake" when the controller is switched on. This is only
possible with Rexroth housing motors with encoder data memory, such as
MSK, MHD, MKD, MKE and, where applicable, MAD and MAF!
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-3010 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
Nm
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

846/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.13.12

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3011, Holding brake current, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value for the current of the motor holding brake stored in the encoder data
memory.
As the monitoring of the holding brake current is not available in the IndraDrive
controllers, the value is not copied to an effective parameter. The parameter is
exclusively used for writing the value to the encoder memory of Rexroth housing
motors with encoder data memory, such as MSK, MHD, MKD, MKE and, where
applicable, MAD and MAF!

P-0-3011 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
A
--

Input
MPB:
MPD:
MPH:

4.13.13

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3012, Temperature sensor, encoder memory


Allocation

Function

P-0-3012 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Characteristic value, stored in the encoder data memory, for the temperature
sensor incorporated in the motor winding. The content of this parameter is cop
ied to the effective parameter "P00512, Temperature sensor" when the con
troller is switched on. This is only possible with Rexroth housing motors with
encoder data memory, such as MSK, MAD and MAF, but not with MHD, MKD
and MKE!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
FEEDB_I2C
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 847/1033


and Controls

Product-Specific Parameters

4.13.14

P-0-3014, Magnetizing current, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Value for the magnetizing current in the rated point of the motor stored in the
encoder data memory.
In the case of MAD and MAF motors the value is copied to the effective pa
rameter "P04004, Magnetizing current" when the controller is switched on.

P-0-3014 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
A eff
--

Input
MPB:
MPD:
MPH:

4.13.15

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3015, Flux-generating current, limit value, encoder memory


Allocation

Function

P-0-3015 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Limit value for the flux-generating current stored in the encoder data memory.
The content of this parameter is copied to the effective parameter "P04005,
Flux-generating current, limit value" when the controller is switched on. This is
only possible with synchronous BRC motors with encoder data memory, such
MSK, but bot with MHD, MKD and MKE!
Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
A eff
--

Input
MPB:
MPD:
MPH:

4.13.16

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3016, Direct-axis inductance of motor, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value available in the encoder data memory for the direct-axis inductance of a
synchronous motor. When the controller is switched on, the value, in the case

848/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
of MSK motors, is copied to the effective parameter "P04016, Direct-axis in
ductance of motor".
See also Functional Description "Rexroth Motors"
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
P-0-3016 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
mH
--

Input
MPB:
MPD:
MPH:

4.13.17

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3017, Quadrature-axis inductance of motor, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value available in the encoder data memory for the quadrature-axis inductance
of a synchronous motor.
When the controller is switched on, the value, in the case of MSK motors, is
copied to the effective parameter "P0-4017, Quadrature-axis inductance of
motor".
See also Functional Description "Rexroth Motors"
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-3017 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
mH
--

Input
MPB:
MPD:
MPH:

4.13.18

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3018, Charact. quadr.-axis induct. of motor, induct., enc. Memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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, the content of the parameter, in the case of
MSK motors, is copied to the effective parameter "P04002, Charact. of quad
rature-axis induct. of motor, inductances".

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 849/1033


and Controls

Product-Specific Parameters
See also Parameter Description "P-0-4002, Charact. of quadrature-axis induct.
of motor, inductances"
P-0-3018 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.13.19

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3019, Charact. quadr.-axis induct. of motor, currents, enc. Memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

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, the content of the parameter, in the case of
MSK motors, is copied to the effective parameter "P04003, Charact. of quad
rature-axis inductance of motor, currents".
See also Parameter Description "P04003, Charact. of quadrature-axis induc
tance of motor, currents"

P-0-3019 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.13.20

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3020, Thermal time constant of winding, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value available in the encoder data memory for the thermal time constant of
the motor winding.
When the controller is switched on, the content of the parameter, in the case of
MSK motors, is copied to the effective parameter "P04034, Thermal time
constant of winding".
See also Parameter Description "P04034, Thermal time constant of winding"

P-0-3020 - Attributes

Function: Par
Editability:
Memory: FEEDB_I2C Validity ch.:

PM
--

Data length:
Format:

2Byte
DEC_OV

850/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
s
Cycl. tra.: -Input
MPB:
MPD:
MPH:

4.13.21

Extr. val. ch.: -Comb. check: --

Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3021, Thermal time constant of motor, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value for the thermal time constant of the motor stored in the encoder data
memory.
When the controller is switched on, the content of the parameter, in the case of
MSK motors, is copied to the effective parameter "P04035, Thermal time
constant of motor".
See also Parameter Description "P-0-4035, Thermal time constant of motor"

P-0-3021 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
min
--

Input
MPB:
MPD:
MPH:

4.13.22

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3022, Thermal short-time overload of winding, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value for the temporary thermal overload of the winding stored in the encoder
data memory.
When the controller is switched on, the content of the parameter, in the case of
MSK motors, is copied to the effective parameter "P04037, Thermal shorttime overload of winding".
See also Parameter Description "P-0-4037, Thermal short-time overload of
winding"

P-0-3022 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
FEEDB_I2C
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 851/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.13.23

--- / ----- / ---

-----

P-0-3023, Current limit value of demagnetization, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Factor for the current limit value for synchronous motors stored in the
encoder data memory; if the limit value is exceeded, the magnets run the risk
of being demagnetized.
When the controller is switched on, the content of the parameter, in the case of
MSK motors, is copied to the effective parameter "P04013, Current limit value
of demagnetization".
See also Parameter Description "P04013, Current limit value of demagneti
zation"

P-0-3023 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
%
--

Input
MPB:
MPD:
MPH:

4.13.24

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3025, Brake voltage, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

-
-
MPH
MPH

-
-
MPD
MPD

For KSD motors (IndraDrive Mi) the brake voltage is derived from the DC bus
voltage. This parameter defines the brake voltage required for the installed
brake.
This parameter is only relevant for IndraDrive Mi!

P-0-3025 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
V
--

Input
MPB:
MPD:
MPH:

4.13.25

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
0,0 / 6553,5
0,0 / 6553,5
0,0 / 6553,5

Default value
-------

P-0-3028, Flux loop proportional gain, encoder memory


Allocation

Contained in 02VRS:
Contained in 03VRS:

MPB
MPB

MPH
MPH

MPD
MPD

852/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD

The parameter contains the initial value (default) for "P00528, Flux control
loop proportional gain".
In the case of MAD and MAF motors, this value is stored in the encoder data
memory, if they have such a memory. During the load defaults procedure (load
ing controller parameters) the parameter P03028 is copied to parameter
P00528.
See also Parameter Description "P00528, Flux control loop proportional gain"

P-0-3028 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.13.26

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3029, Scaling of stall current limit, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter contains the initial value (default) for "P00529, Scaling of stall
current limit".
In the case of MAD and MAF motors, this value is stored in the encoder data
memory, if they have such a memory. During the load defaults procedure (load
ing controller parameters) the parameter P03029 is copied to parameter
P00529.
See also Parameter Description "P00529, Scaling of stall current limit"

P-0-3029 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
%
--

Input
MPB:
MPD:
MPH:

4.13.27

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3032, Premagnetization factor, encoder memory


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 853/1033


and Controls

Product-Specific Parameters
Function

The parameter contains the initial value (default) for "P00532, Premagneti
zation factor".
In the case of MAD and MAF motors, this value is stored in the encoder data
memory, if they have such a memory. During the load defaults procedure (load
ing controller parameters) the parameter P03032 is copied to parameter
P00532

P-0-3032 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
%
--

Input
MPB:
MPD:
MPH:

4.13.28

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3033, Voltage loop proportional gain, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter contains the initial value (default) for "P00533, Voltage loop
proportional gain".
In the case of MAD and MAF motors, this value is stored in the encoder data
memory, if they have such a memory. During the load defaults procedure (load
ing controller parameters) the parameter P03033 is copied to parameter
P00533.
See also Parameter Description "P00533, Voltage loop proportional gain"

P-0-3033 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
A/V
--

Input
MPB:
MPD:
MPH:

4.13.29

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3034, Voltage loop intergral action time, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter contains the initial value (default) for "P00534, Voltage loop
integral action time".
In the case of MAD and MAF motors, this value is stored in the encoder data
memory, if they have such a memory. During the load defaults procedure (load
ing controller parameters) the parameter P03034 is copied to parameter
P00534.

854/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-3034 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
ms
--

Input
MPB:
MPD:
MPH:

4.13.30

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3035, Motor voltage at no load, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter contains the initial value (default) for "P00535, Motor voltage
at no load".
In the case of MAD and MAF motors, this value is stored in the encoder data
memory, if they have such a memory. During the load defaults procedure (load
ing controller parameters) the parameter P03035 is copied to parameter
P00535.
See also Parameter Description "P00535, Motor voltage at no load"

P-0-3035 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
%
--

Input
MPB:
MPD:
MPH:

4.13.31

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3036, Maximum motor voltage, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter contains the initial value (default) for "P00536, Maximum mo
tor voltage".
In the case of MAD and MAF motors, this value is stored in the encoder data
memory, if they have such a memory. During the load defaults procedure (load
ing controller parameters) the parameter P03036 is copied to parameter
P00536.
See also Parameter Description "P00536, Maximum motor voltage"

P-0-3036 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
%
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 855/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.13.32

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3039, Stator leakage inductance, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Value for the stator leakage inductance of an asynchronous motor stored in the
encoder data memory.
In the case of MAD and MAF motors with encoder data memory, the value is
copied to the effective parameter "P04039, Stator leakage inductance" when
the controller is switched on.

P-0-3039 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
mH
--

Input
MPB:
MPD:
MPH:

4.13.33

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3040, Rotor leakage inductance, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Value for the rotor leakage inductance of an asynchronous motor stored in the
encoder data memory.
In the case of MAD and MAF motors with encoder data memory, the value is
copied to the effective parameter "P04040, Rotor leakage inductance" when
the controller is switched on.

P-0-3040 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
mH
--

Input
MPB:
MPD:
MPH:

4.13.34

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3041, Motor magnetizing inductance, encoder memory


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

856/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

Value stored in the encoder data memory for the magnetizing inductance of an
asynchronous motor.
In the case of MAD and MAF motors with encoder data memory, the value is
copied to the effective parameter "P04041, Motor magnetizing inductance"
when the controller is switched on.

P-0-3041 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
mH
--

Input
MPB:
MPD:
MPH:

4.13.35

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3042, Characteristic of motor magnetizing inductance, encoder


mem.
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

List of values stored in the encoder data memory. These values are describing
the characteristic of the magnetizing inductance of an asynchronous motor.
In the case of MAD and MAF motors with encoder data memory, the value is
copied to the effective parameter "P04042, Characteristic of motor magnet
izing inductance" when the controller is switched on.

P-0-3042 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
---

Input
MPB:
MPD:
MPH:

4.13.36

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3043, Rotor time constant, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

Value stored in the encoder data memory for the rotor time constant of an
asynchronous motor.
In the case of MAD and MAF motors the value is copied to the effective pa
rameter "P04043, Rotor time constant" when the controller is switched on.

P-0-3043 - Attributes

Function: Par
Editability:
Memory: FEEDB_I2C Validity ch.:

PM
--

Data length:
Format:

4Byte
DEC_OV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 857/1033


and Controls

Product-Specific Parameters
Unit:
ms
Cycl. tra.: -Input
MPB:
MPD:
MPH:

4.13.37

Extr. val. ch.: -Comb. check: --

Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3050, Motor inductance, encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Value for the winding inductance of the motor stored in the encoder data mem
ory. The content of this parameter is copied to the effective parameter
"P04047, Motor inductance" when the controller is switched on. This is only
possible with BRC housing motors with encoder data memory like MHD, MKD
and MKE, for example!
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"

P-0-3050 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
mH
--

Input
MPB:
MPD:
MPH:

4.13.38

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
-------

P-0-3051, Encoder memory, operating hours counter, motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter is only valid for Rexroth motors of the "IndraDyn S" and "Indra
Dyn A" ranges as of the 3rd quarter of year 2007 with encoder option "1", "2"
or "6" (motor type code section no. 18)! It shows the data of the operating hours
counter stored in the motor encoder, see "Structure" below.
The count of the operating hours counter is determined by the controller in a 2
ms clock (P-0-2051) and stored hourly in the active, non-volatile memory (flash
or MMC) of the controller.
P-0-3051 is only updated, however, after the control voltage supply has been
switched on by, if necessary, storing the value of parameter P-0-2051 in pa
rameter P-0-3051!

858/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

To store the current operating data of the motor, stored in the


controller, in the encoder memory for servicing, switch control
voltage on again before replacing the motor!

Resetting the operating hours counter is impossible for the


above-mentioned Rexroth motors!

See Functional Description "Diagnostic Data of Motor Operation"


Structure

List parameter with the elements


List ele
ment

Operating time

Default val Unit


ue

Definition

duration drive
enable

0.0

duration during which drive


enable (AF) had been set for
the motor

duration motion 0.0

duration during which the ac


tual velocity of the motor was
unequal "0" (or >S-0-0124?)

duration motor
warning tem
perature

duration during which the


motor temperature had ex
ceeded the warning thresh
old (S-0-0201)

Fig.4-239:
Use

P-0-3051 - Attributes

List elements P-0-3051, Encoder memory, operating hours counter,


motor

The operating hours counter data of the above-mentioned Rexroth motors are
available in the encoder data memory for servicing and can be used for as
sessing the motor failure!
Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
s
--

Input
MPB:
MPD:
MPH:

4.13.39

0.0

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3052, Encoder memory, thermal operating data, motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter is used to display the thermal operating data of the motor stored
in the encoder data memory.
The parameter is write-protected and cannot be changed by cus
tomers.
This parameter is only valid for Rexroth motors of the "IndraDyn S" and "Indra
Dyn A" ranges as of the 3rd quarter of year 2007 with encoder option "1", "2"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 859/1033


and Controls

Product-Specific Parameters
or "6" (motor type code section no. 18)! It shows the thermal operating data of
the motor stored in the motor encoder, see "Structure" below.
The thermal operating data (P-0-2052) are determined by the controller in a 2
ms clock and stored hourly in the active, non-volatile memory (flash or MMC)
of the controller.
P-0-3052 is only updated, however, after the control voltage supply has been
switched on by, if necessary, storing the value of parameter P-0-2052 in pa
rameter P-0-3052!

To store the current operating data of the motor, stored in the


controller, in the encoder memory for servicing, switch control
voltage on again before replacing the motor!

Resetting the thermal operating data is impossible for the


above-mentioned Rexroth motors!

See Functional Description "Diagnostic Data of Motor Operation"


Structure

List parameter with the elements


List ele
ment

Operating time

Default val Unit


ue

Definition

maximum tem
perature

0.0

maximum winding tempera


ture which ever occurred dur
ing the operating time (AF)

average tem
perature

0.0

average winding tempera


ture, averaged over the total
operating time (AF) of the
motor

Fig.4-240:
Use

P-0-3052 - Attributes

List elements P-0-3052, Encoder memory, thermal operating data, mo


tor

The thermal operating data of the above-mentioned Rexroth motors are avail
able in the encoder data memory for servicing and can be used for assessing
the motor failure!
Function:
Memory:
Unit:
Cycl. tra.:

Par
FEEDB_I2C
C
--

Input
MPB:
MPD:
MPH:

4.13.40

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte var.


Format:
DEC_MV
Decim. pl.:
1
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3053, Encoder memory, mechanical operating data, motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

This parameter is only valid for Rexroth motors of the "IndraDyn S" and "Indra
Dyn A" ranges as of the 3rd quarter of year 2007 with encoder option "1", "2"

860/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
or "6" (motor type code section no. 18)! It shows the mechanical operating data
of the motor stored in the motor encoder, see "Structure" below.
The mechanical operating data (P-0-2053) are determined by the controller in
a 2 ms clock and stored hourly in the active, non-volatile memory (flash or MMC)
of the controller.
P-0-3053 is only updated, however, after the control voltage supply has been
switched on by, if necessary, storing the value of parameter P-0-2053 in pa
rameter P-0-3053!

To store the current operating data of the motor, stored in the


controller, in the encoder memory for servicing, switch control
voltage on again before replacing the motor!

Resetting the thermal operating data is impossible for the


above-mentioned Rexroth motors!

See Functional Description "Diagnostic Data of Motor Operation"


Structure

List parameter with the elements


List ele
ment

P-0-3053 - Attributes

Definition

maximum
locity

ve 0

min-1

maximum velocity of motor


which ever occurred during
the operating time (AF)

average veloci 0
ty

min-1

average winding tempera


ture, averaged over the total
operating time (AF) of the
motor

List elements P-0-3053, Encoder memory, mechanical operating data,


motor

The mechanical operating data of the above-mentioned Rexroth motors are


available in the encoder data memory for servicing and can be used for as
sessing the motor failure!
Function: Par
Editability:
Memory: FEEDB_I2C Validity ch.:

PM
--

Unit:

--

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.13.41

Default val Unit


ue

Fig.4-241:
Use

Operating time

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_OV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3100, Version of data structure in encoder memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

There are differences in the data structure in the encoder memory of the BRC
housing motors. The following types are distinguished:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 861/1033


and Controls

Product-Specific Parameters
P-0-3100

Motor types

MHD, MKD, MKE

SF

MSK

MSK, MAD, MAF

Selecting the data structure version in P03100, however, is only


required when the motor encoder data memory is written at the
factory. The parameter therefore is irrelevant for the user!
By means of this parameter it is possible to set according to which version of
data structure the encoder memory parameters are stored. The version of data
structure basically decides on the data format and in addition on the storage
address in the encoder memory for each individual parameter.
You have to take into account that parameter "P00077, Assign
ment motor encoder->optional slot" and, if necessary, also the
parameters "P00078, Assignment optional encoder ->optional
slot" and "P00079, Assignment measuring encoder ->optional
slot" already have to be set before this parameter is written.
P-0-3100 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

4.14

P-0-3200 - P-0-3599 Safety Technology

4.14.1

P-0-3200, Safety technology firmware code


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains the version designation of the safety technology firm
ware.
See also Functional Description "Integrated Safety Functions"

P-0-3200 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
---

862/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.14.2

--- / ----- / ---

-----

P-0-3201, Change counter of safety technology memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is incremented at every change of the safety technology mem


ory; i.e. each time the command "P03204, C3000 Synchronize and store
safety technology IDN command" and the command "S00262, C07_x Load
defaults procedure command" (with "P04090, Index for C07 Load defaults
procedure" = 165 hex) are triggered.
See also Functional Description "Integrated Safety Functions"

P-0-3201 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.14.3

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3202, Operating hours at last change of memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter reflects the time of the last change of the safety technology
memory. It is part of the safety technology memory.
See also Functional Description "Integrated Safety Functions"

P-0-3202 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-s
--

Input
MPB:
MPD:
MPH:

4.14.4

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
-------

P-0-3203, Memory image of safety technology memory


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 863/1033


and Controls

Product-Specific Parameters
Function

This parameter produces a hexadecimal list that contains an image of the last
states of the safety technology memory. By means of an external program it is
possible to trace back the last two states.
See also Functional Description "Integrated Safety Functions"

P-0-3203 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.14.5

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3204, C3000 Synchronize and store safety technology IDN com


mand
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

With this command, channel 2 of safety technology applies the data of channel
1 and stores them in the parameter memory channel 2 (optional safety tech
nology module). The command can only be carried out as of phase 3 or, as of
firmware version MPx-03, in the operating mode.
See also Functional Description "Integrated Safety Technology"

Use

Upon correct double input, the safety parameters first are saved with the ex
isting standard mechanisms in the parameter memory of channel 1. Channel 2
of safety technology, however, only gets the data by execution of the command
"C3000 Synchronize and store safety technology IDN".
Every change of the safety technology memory can be assigned to an un
equivocal change status; this status has to be documented together with the
safety technology password within the scope of the acceptance test of safety
technology. For this purpose, the following parameters are used:

P-0-3204 - Attributes

P-0-3201, Change counter of safety technology memory

P-0-3202, Operating hours at last change of memory

P-0-3203, Memory image of safety technology memory

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.14.6

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3205, Safety technology device identifier


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

-
-
-

MPH
MPH
MPH

MPD
MPD
MPD

864/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD

The safety technology device identifier contains a text that unequivocally de


scribes the function of the axis and the application for which it is used. This
allows clearly assigning the parameter file of parameter backup to an applica
tion.
During the safety acceptance test, the safety technology device
identifier has to be written with due carefulness and documented in
the acceptance test protocol. The parameter is stored in the safety
memory and thereby becomes part of "P03208, Backup of safety
techn. data channel 2".

Use

After the control section hardware was replaced it is made sure by means of
an appropriate sequence that the safety data of channel 1 and channel 2 are
loaded. After the loading of the safety memory, the service engineer checks by
means of the safety technology device identifier whether the loaded parameter
file matches the one in the safety documentation.
If the loaded parameter file matches the one in the safety docu
mentation, this is documented by the service engineer. In this case,
it is not necessary to repeat the safety acceptance test.
See also Functional Description "Integrated Safety Technology"

P-0-3205 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.14.7

PM+OM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3206, Safety technology password


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

Via parameter "P03206, Safety technology password" the safety technology


can be activated. The safety technology password is used to lock the write
access to all parameters relevant to safety technology. The ex works password
entered in "P03206, Safety technology password" is "INDRASAVE".
See also Functional Description "Integrated Safety Technology"

Use

Allowed characters and length


The safety technology password

must at least have 3 characters and mustn't have more than 10 characters
and

may only contain the characters "az", "AZ" and the numbers "09"

Password states

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 865/1033


and Controls

Product-Specific Parameters
The "safety technology password" function can have three different states:

Fig.4-242:
P-0-3206 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Possible password states


Par
----

Input
MPB:
MPD:
MPH:

4.14.8

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3207, Safety technology password level


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter "P03207, Safety technology password level" displays the cur
rent status of the safety technology password (P03206).
See also Functional Description "Integrated Safety Functions"

Structure

The "safety technology password" function can have three different states:

866/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Level

Status safety technology password

Status safety technology

no safety tech. password activated,

safety technology inactive

safety tech. parameters can be written


1

s. tech. passw. activated a. unlocked,

safety technology active

safety tech. parameters can be written


2

s. tech. passw. activated and locked,

safety technology active

s. tech. parameters write-protected

Fig.4-243:
P-0-3207 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Safety technology password states


Par
----

Input
MPB:
MPD:
MPH:

4.14.9

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3208, Backup of safety techn. data channel 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to replace the control section hardware


without afterwards having to carry out safety commissioning. This is possible
when the user has made sure by means of the parameter "P03205, Safety
technology device identifier" that he has loaded the parameter belonging to the
application. The user has to document the replacement procedure.
See also Functional Description "Integrated Safety Functions"

Use

The parameter consists of a variable list with hex values which is a binary image
of the safety technology memory. Together with other parameters this param
eter "P03208, Backup of safety techn. data channel 2" can be read and written
back as part of a parameter file. Writing this parameter (variable list with hex
values) back is only possible with deactivated safety technology.
The saved parameter file can be loaded to the new hardware in different ways.

If the commissioning software (e.g. IndraWorks) is used, the respective


file is selected, with inactive safety technology, in the parameter mode via
the menu items "File->Load" and the loading process is started.

If an MMC is used, the message "New MMC", "there" appears at the dis
play of the new hardware when phase progression is carried out for the
first time. The user has to acknowledge this message in order to continue
working at the drive with this MMC. When the safety technology card has
been plugged, there then is a repeated query via the display "load new",
"safety ?". The user is requested to actively confirm again the loading of
the "P03208, Backup of safety techn. data channel 2" stored on the
MMC.

With inactive safety technology the parameter "P03208, Backup of safety


techn. data channel" 2 is transmitted to channel 2 of the safety technology in

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 867/1033


and Controls

Product-Specific Parameters
the transition command phase 3 to 4. Then a checksum check is and subse
quent initialization are carried out on channel 2. If the sequence is faulty, the
message "F3152 Incorrect backup of safety technology data" is generated. For
controlling whether the safety technology parameters are belonging to the ap
plication, an ASCII parameter is made available which contains an application
description. This parameter is backed up in the safety memory and has to be
unequivocally written and documented.
After the safety technology memory has been loaded it is necessary to control
and document that the loaded data are matching the safety documentation. If
this is the case, it is not necessary to carry out the safety acceptance test again.
When an MMC is used, the parameter "P03205, Safety technology device
identifier" can be read via the display.
P-0-3208 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.14.10

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3209, Safety technology commissioning identifier


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The purpose of the commissioning software (e.g. IndraWorks) is to facilitate the


commissioning for the user in the form of adjusted dialogs. The parameter de
fines the status of commissioning via the tool. This parameter ensures that the
commissioning tool is running synchronously to the drive.
See also Functional Description "Integrated Safety Functions"

P-0-3209 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.14.11

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3210, Safety technology configuration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to configure safety technology functions.

868/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
This parameter is a 2-byte list parameter. Element 2 is the copy of
element 1. The default setting is 0x2012, 0x2012.
See also Functional Description "Integrated Safety Technology"
Structure

Bit

Designation/function

special mode "safety related halt"

Comment

0: safety related operational stop ("SBH")


1: safety related standstill ("SH")
1

diagnostic output
0: control of a PLC (EA10n = output)
1: control of a safety door (EA10n: internal relay, switches at 0 V;
select only when bit 2 = 1)

safety diagnosis and acknowledgment, EA10, EA10n, EA20


0: slave
1: master (select only when bit 8 = 0)

dynamization of safety function selection, EA30


0: slave
1: master (for external dynamization, all axes of the safety rela
ted protective zone have to be slaves)

safety technology operating mode transitions


0: NC-controlled (reduction of transition time by control unit is
possible, P-0-3212, bit 11)
1: drive-controlled (except for transitions to special mode motion,
"SBB14")

safety related homing procedure, evaluation of home switch for


channel 2
0: dynamic evaluation (edge, configure bit 11)
1: static evaluation; configure reference input channel 2
(P03211)!

kind of dynamization of safety function selection


0: common dynamization
1: separate dynamization for channel 1 and 2 (dynamization sig
nal for channel 1 is required, P-0-3212, bit 10)

deactivation of acknowledgment support at EA20

as of
0: Zone acknowledgment. Several drives are connected via ac MPx03V12
knowledgment EA20.
1: Single acknowledgment. Drive works in stand-alone form
without acknowledgment support. Acknowledgment signal is
static 24V (only takes effect, when bit 2 = 0).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 869/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

Comment

reaction to F7 error

as of
MPx03V20

0: velocity command value reset


1: torque disable
The setting "torque disable" should only be made after a risk
assessment of the installation or machine. Attention: Observe
note!
10

diagnostic output channel 2 (EA10n) only takes effect when bit


2=0
0: active
1: not active (avoids mutual influence of axes in the case of bus
wiring of optional safety technology module)

11

edge evaluation home switch only takes effect when bit 5 = 0


0: positive
1: negative

12

defined safety with parked axis

as of
MPx03V12

0: no safety
1: safety (observe Safety Instructions in Functional and Appli
cation Description)
13

safety related monitored deceleration

as of MPx03

0: not active
1: active
14

scaling of safety parameters

as of MPx03

0: according to setting of scaling system


1: fixed format related to motor
15

gear independence with safety technology encoder mounted on as of


the load side
MPx05V10
0: not active
1: active (select only when bit 14 = 0)

Fig.4-244:

P03210, Safety technology control word

The F7 error reaction torque disable should only be used in special


cases. This applies to applications in which forced deceleration by
velocity command value reset generally causes problems, e.g. me
chanically coupled axes. The machine manufacturer is responsible
for F7 error reaction torque disable and his risk analysis has to show
his responsibility.
P-0-3210 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

870/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.14.12

P-0-3211, Safety technology I/O configuration list, channel 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter makes available a list for the function linking of the individual I/
Os of the optional safety technology module (at connector X41) with defined
safety technology control signals.
See also Functional Description "Integrated Safety Technology"

Structure

Designation/function

Comment

0: not used
1: mode selector ("BA")
2: drive interlock ("ASP")
3: enabling control ("ZT")
4: home switch ("REF")
5: safety switch 1 ("S1")
6: safety switch 2 ("S2")
7: HAT diagnosis
0xC: safety technology input 1

only in conjunction with PROFI


safe, as of MPx04

0xD: safety technology input 2


0xE: safety technology input 3
0xF: safety technology input 4

list elements correspond to input signals E1n, E2n, E3n, E4n of optional safety tech
0...3
nology module
list elements are copy of values 0...3 for the purpose of double input
4...7

Fig.4-245:
P-0-3211 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-3211, Safety technology I/O configuration list, channel 2

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.14.13

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3212, Safety technology control word, channel 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter makes available binary control signals for online control of the
safety technology functions via digital hardware inputs or the master commu

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 871/1033


and Controls

Product-Specific Parameters
nication (e.g. SERCOS) of the drive. For this purpose the desired control bits
from P03212 have to be configured accordingly in the respective interfaces.
See also Functional Description "Digital Inputs/Outputs"
See also Functional Description "Configurable Signal Control Word"
See also Functional Description "SERCOS interface"
See also Functional Description "Integrated Safety Technology"
Structure

Bit

Designation/function

Comment

mode selector ("BA")

drive interlock ("ASP")

enabling control ("ZT")

safety switch 1 ("S1")

safety switch 2 ("S2")

diagnostic input channel 1 (I10)


(feedback from relay of safety door control or
monitoring of safety related output)

10

dynamization input for channel 1


(substitute for I/O30 in the case of separate dy
namization of safety function selection,
P03210, bit 7=1)

11

NC-Ready
(for NC-controlled safety technology operating
mode transitions, P03210, bit 4=0, the control
unit can reduce transition times P-0-3220/
P-0-3225, selected monitoring functions then
are immediately active!)

12

safety technology input 1

only in conjunction with


PROFIsafe, as of MPx04

13

safety technology input 2

only in conjunction with


PROFIsafe, as of MPx04

14

safety technology input 3

only in conjunction with


PROFIsafe, as of MPx04

15

safety technology input 4

only in conjunction with


PROFIsafe, as of MPx04

Fig.4-246:
P-0-3212 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Safety technology control word, channel 1


Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

872/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.14.14

P-0-3213, Safety technology operating status


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter makes available binary status signals for online monitoring of
the safety technology states. By means of this status word the individual status
signals can be optionally programmed to existing real-time bits of the master
communication or hardware I/Os or I/O extensions.
See also Functional Description "Integrated Safety Technology"

Structure

The individual bits of the parameter have the following significance:


Bit

Designation/function

6...0

safety technology operating status

Comment

0000000: safety technology not active


0000001: normal operation ("NO")
0000010: safety related drive interlock ("ASP")
0000100: safety related stopping process active ("SH" or
"SBH")
0001000: safety related motion ("SBB1")
0010000: safety related motion ("SBB2")
0100000: safety related motion ("SBB3")
1000000: safety related motion ("SBB4")
7

status safety related position

as of MP*03VRS

1: safety related reference available


0: safety related reference not available
9,8

safety technology error


10: disconnection on error by optional safety technology
module (S1)
01: disconnection on error by controller module

10

parameter mode
1: parameter mode active, i.e. safety technology param
eters can be changed
0: operating mode active

11

status parking axis


1: parking axis active
0: parking axis inactive

as of MPx03V12

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 873/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

Comment

14

level of safety technology use

as of MPx03V12

1: restricted use of safety technology, test version, as no


safety technology firmware test has been carried out
autom. switched off after a max. of 30 min.!
0: unrestricted use of safety technology, as tested safety
technology firmware is available
15

safety technology activation


1: safety technology functionality deactivated
0: safety technology functionality activated

Fig.4-247:
P-0-3213 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P03213, Safety technology operating status


Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.14.15

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3214, Safety technology status word, channel 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter makes available binary status signals of the safety technology
functions of channel 1. By means of this status word the individual status signals
can be optionally programmed to existing real-time bits of the master commu
nication or hardware I/Os or I/O extensions.
See also Functional Description "Integrated Safety Technology"

Structure

Bit

Designation/function

Comment

safety technology status output of controller

I/O_10 with safety technolo


gy I/O

safety technology output

only in conjunction with


PROFIsafe, as of MPx04

Fig.4-248:
P-0-3214 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

P-0-3214, Safety technology status word, channel 1


Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

874/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.14.16

P-0-3215, Selected safety technology operating status


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays the selected safety technology operating states.


Whether the selected safety technology operating status becomes
really active, can be seen in "P03213, Safety technology operating
status".
See also Functional Description "Integrated Safety Technology"

Structure

The individual bits of the parameter have the following significance:


Value

Designation/function

0x0

normal operation ("NO")

0x1

drive interlock ("ASP")

0x2

special mode stopping process (safety related standstill


("SH") / safety related operational stop ("SBH"))

0x3

special mode safety related motion 1 ("SBB1")

0x4

special mode safety related motion 2 ("SBB2")

0x5

special mode safety related motion 3 ("SBB3")

0x6

special mode safety related motion 4 ("SBB4")

0x7

parking axis

Fig.4-249:
P-0-3215 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

as of MPx03V12

Coding of selected safety technology operating states


Par
--AT

Input
MPB:
MPD:
MPH:

4.14.17

Comment

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3216, Active safety technology signals


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This list parameter is used to display the active safety technology signals, i.e.
the current status of the safety technology signals of channel 1 and 2.
The list has the following structure:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 875/1033


and Controls

Product-Specific Parameters

The first element corresponds to the status of the input/selection signals


of channel 1.

The second element corresponds to the status of the input/selection sig


nals of channel 2.
By means of "P03216, Active safety technology signals" it is pos
sible locate errors in the configuration or wiring of the input signals.

See also Functional Description "Integrated Safety Technology"


Structure

An element of the list has the following structure:


Bit

Designation/function

mode selector ("BA")

drive interlock ("ASP")

enabling control ("ZT")

safety switch 1 ("S1")

safety switch 2 ("S2")

safety technology output

home switch ("REF")

diagnostic input I10 (only channel 1)

12

safety technology input 1

only in conjunction with


PROFIsafe, as of MPx04

13

safety technology input 2

only in conjunction with


PROFIsafe, as of MPx04

14

safety technology input 3

only in conjunction with


PROFIsafe, as of MPx04

15

safety technology input 4

only in conjunction with


PROFIsafe, as of MPx04

Fig.4-250:
P-0-3216 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

only in conjunction with


PROFIsafe, as of MPx04

P-0-3216, Active safety technology signals


Par
----

Input
MPB:
MPD:
MPH:

4.14.18

Comment

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3217, I/O status channel 2 (optional safety technology module)


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

876/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

This parameter displays the current status of the inputs/outputs of the safety
technology module.
See also Functional Description "Integrated Safety Functions"

Structure

Bit

Designation/function

Input E1n

Input E2n

Input E3n

Input E4n

EA10n diagnosis/door locking device

EA20 acknowledgment

EA30 dynamization of safety function selection

Status bit: dynamic signal at EA20

Fig.4-251:
P-0-3217 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-3217, I/O status channel 2 (optional safety technology module)


Par
--AT

Input
MPB:
MPD:
MPH:

4.14.19

Comment

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3218, C3700 Manually unlocking the safety door


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to start the command "C3700 Manually unlocking the
safety door" which allows manually unlocking the safety door in the case of an
encoder error.
See also Troubleshooting Guide for "C3700 Manually unlocking the safety
door"
See also Functional Description "Integrated Safety Functions"

P-0-3218 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 877/1033


and Controls

Product-Specific Parameters

4.14.20

P-0-3219, Diagnostic safety technology message


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

Parameter "P03219, Diagnostic safety technology message" displays de


tailed error codes of channels 1 and 2 for some safety technology errors (cf.
F3xxx and F7xxx).
The error codes contained are used for extended diagnosis and can
give information on the error location and the exact cause!
See also Functional Description "Integrated Safety Functions"

Structure

The example below (content of P03219 in the case of error F3130) illustrates
the structure:
E-code
E-code
Safety technology error
channel 1 channel 2 channel 1
(P3219 [0]) (P3219 [1])
23

not all input signals of chan


nel 1 are LOW
26

short circuit between input


E1n and 24V during dynami
zation

28

short circuit between input


E2n and 24V during dynami
zation

29

short circuit between input


E3n and 24V during dynami
zation

35

short circuit between input


E4n and 24V during dynami
zation

Fig.4-252:
P-0-3219 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Diagnostic safety technology message


Par
----

Input
MPB:
MPD:
MPH:

4.14.21

Safety technology error


channel 2

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3220, Tolerance time transition from normal operation


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

878/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

optional safty technologie car


"open loop", "closed loop"

In the case of transitions from normal operation to a safety function, this pa


rameter defines the maximum time available after which the command value
system of the drive has to be adjusted to the new safety function.
See also Functional Description "Integrated Safety Functions"

P-0-3220 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.14.22

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
0,1 / 120,0
0,1 / 120,0
0,1 / 120,0

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
-------

P-0-3221, Max. tolerance time for different channel states


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines the maximum allowed time during which the input/se
lection signals (safety technology states) of both monitoring channels may differ
from each other. If this time is exceeded, the error message "F3141 Selection
validation error" is generated.
See also Functional Description "Integrated Safety Functions"
See also Troubleshooting Guide for "F3141 Selection validation error"

P-0-3221 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.14.23

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
0,1 / 2,0
0,1 / 2,0
0,1 / 2,0

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
-------

P-0-3222, Max. activation time of enabling control


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The numeric value entered in this parameter defines the maximum allowed time
for activating the enabling control. The enabling control has to be deactivated
after the time entered in P03222. The time takes effect, when the selection
signals "mode selector" or "drive interlock" have been activated in addition to
the enabling control.
This means that the special mode motion is temporary.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 879/1033


and Controls

Product-Specific Parameters
As of MPx-05, this time only takes effect when the "individual acti
vation times of enabling control" have not been activated in param
eter "P-0-3239, Configuration of global safety technology func
tions".
The time monitoring detects invalid manipulation of the enabling control and
when the maximum activation time of enabling control is exceeded, the error
"F3142 Activation time of enabling control exceeded" is generated.
See also Functional Description "Integrated Safety Technology"
Use

Observe the following aspects for parameterizing P-0-3222:

The maximum activation time of enabling control must be defined de


pending on the maximum application-related travel time plus some extra
time (e.g. 10%) added for reasons of safety.

In specific applications the monitoring function can be deactivated by en


tering "0".
You can do without the monitoring of the activation time, if it is not
common practice to use an enabling control in your industrial sector
and if constant motion does not represent any danger. The machine
manufacturer is responsible for the monitoring of the activation time
and his risk analysis has to show his responsibility.

See also Troubleshooting Guide for "F3142 Activation time of enabling control
exceeded"
P-0-3222 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.14.24

PM
PM->OM
+
--

min./max.
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
-------

P-0-3223, Time interval for dynamization of safety function selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines the cycle time for the "dynamization of safety function
selection" (periodic time of the dynamization signal).
The "dynamization of safety function selection" is used to detect "sleeping er
rors" in the wiring of the input signals or the selection elements. A dynamic
signal is applied to the selection elements. When the function works faultlessly,
this dynamic signal is visible at the corresponding input of channel 1 or channel
2, according to the switch status of the N/C and N/O contacts.
See also Functional Description "Integrated Safety Technology"

Use

Variants of dynamization:
There is internal, external or separate dynamization of safety function selection
available.

880/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
With "internal dynamization", the drive which has been configured as "master"
for dynamization of safety function selection ("P-0-3210, Safety technology
configuration", bit 3 = 1) generates the "dynamization signal". According to the
parameterization of

P-0-3223, Time interval for dynamization of safety function selection

P-0-3224, Duration of dynamization pulse of safety function selection

it is output at EA30.
With "external dynamization" ("P-0-3210, Safety technology configuration", bit
3 at all involved axes = 0) or with "separate dynamization" ("P-0-3210, Safety
technology configuration", bit 7 = 1), the parameterized time only is the upper
limit for monitoring the signal shape of the dynamization signal. The externally
generated signal can be shorter.
Dynamization signal:
With internal or external dynamization of safety function selection, exclusively
EA30 is switched.
With separate dynamization, the dynamization signal for channel 1 generated
by the control unit has to be additionally applied in "P-0-3212, Safety technology
control word, channel 1", bit 10.
The "time interval for dynamization of safety function selection" has
an effect on the reaction time, because during the dynamization of
safety function selection the evaluation of the selection signals in
evitably has to be suspended. This is why the time shouldn't be too
short.
When the "time interval for dynamization of safety function selection" is excee
ded, the warning "E3103 Dynamization failed" is generated in normal operation
and the error message "F3134 Dynamization time interval incorrect" is gener
ated in a safety technology operating status.
P-0-3223 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.14.25

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
1,0 / 3600,0
1,0 / 3600,0
1,0 / 3600,0

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
-------

P-0-3224, Duration of dynamization pulse of safety function selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines the maximum duration of the dynamization pulse.


See also Functional Description "Integrated Safety Technology"

Use

The value refers to the signal at the dynamization input EA30 or, in the case of
separate dynamization (P-0-3210, Safety technology control word, bit 7), ad
ditionally at the dynamization input for channel 1 (P-0-3212, Safety technology
signal control word, channel 1, bit 10).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 881/1033


and Controls

Product-Specific Parameters
For external or separate dynamization, the parameterized time value corre
sponds to an upper limit. An externally generated dynamization signal may be
below this value. The minimum pulse width is 30 milliseconds!
In the case of "internal dynamization", the drive generates a dynamization sig
nal with the pulse length set in this parameter.
To detect errors in the wiring of the input signals or selection elements, a dy
namic signal is applied to the selection elements. When the function works
faultlessly, this dynamic signal is visible at the corresponding input of channel
1 or channel 2, according to the switch status of the N/C and N/O contacts.
The "duration of dynamization pulse of safety function selection"
has an effect on the reaction time, because during the dynamization
of safety function selection the evaluation of the selection signals
inevitably has to be suspended. This is why the duration shouldn't
be too long.
If the "duration of dynamization pulse of safety function selection" is exceeded,
the error message "F3135 Dynamization pulse width incorrect" is generated.
P-0-3224 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.14.26

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
0,1 / 1,0
0,1 / 1,0
0,1 / 1,0

Default value
-------

P-0-3225, Tolerance time transition from safety rel. oper.


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the case of transitions from a safety function to a different safety function,


this parameter defines the maximum time available after which the command
value system of the drive has to be adjusted to the new safety function.
See also Functional Description "Integrated Safety Technology"

P-0-3225 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.14.27

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
0,1 / 120,0
0,1 / 120,0
0,1 / 120,0

Default value
-------

P-0-3226, NC delay trend monitoring


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
-
MPH

-
-
-
MPD

882/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

optional safty technologie car


"open loop", "closed loop"

This numeric value defines a period of time within which the NC reacts to a
change in the safety function selection and adjusts the command value input
accordingly.
The "NC delay trend monitoring" takes effect for the following changes in the
safety technology operating states

from normal operation with drive enable to safety related standstill

from normal operation with drive enable to drive interlock

from normal operation with drive enable to safety related operational stop

from special mode motion with drive enable to safety related standstill

from special mode motion with drive enable to drive interlock

from special mode motion with drive enable to safety related operational
stop

only when the following settings have been configured in parameter "P-0-3210,
Safety technology configuration":

"NC-controlled operating mode transitions"

"safety related monitored deceleration"

See also Functional Description "Integrated Safety Technology"


Use

Observe the following aspects for parameterizing P-0-3226:


The "NC delay trend monitoring" must be defined depending on the maximum
application-related reaction time of the NC plus some extra time (e.g. 10%)
added for reasons of safety.

P-0-3226 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

4.14.28

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
0 / 1000
0 / 1000
0 / 1000

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3228, C4000 Homing procedure command channel 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

Command parameter for establishing safety related reference on safety tech


nology channel 2.
Channel 2 waits for a parameterized reference event which is triggered, for
example, by a travel motion of the drive during the command "C0600 Drivecontrolled homing procedure command". After the reference event was detec
ted and "P03280, Actual position value, channel 2" was homed without error,
the drive sets the status "safely homed" in parameter "P-0-3213, Safety tech
nology status", bit 7=1.
See also Functional Description "Integrated Safety Functions"

Use

The selection as to whether a static or a dynamic reference signal is used and


whether the positive or negative edge is to be evaluated for the dynamic signal,

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 883/1033


and Controls

Product-Specific Parameters
has to be set in parameter "P03210, Safety technology control word", bits 5
and 11.
The command does not trigger an automatic drive motion.
P-0-3228 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.14.29

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3229, Tolerance window for safety related homing procedure


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter defines the maximum allowed deviation of the actual position
values of channel 1 and 2 during the execution of the command "C4000 Homing
procedure command channel 2". When the command has been successfully
carried out, the parameter "P03280, Actual position value, channel 2" is
synchronized to the actual position value of channel 1 with a 2nd offset.
See also Functional Description "Integrated Safety Functions"

P-0-3229 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.30

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3230, Monitoring window for safety related operational stop


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines the maximum allowed travel distance related to the ac
tual position at the time "safety related operational stop" is activated.
When the monitoring window is exceeded, the error "F7030 Pos. window for
safety rel. operational stop exceeded" is generated.
See also Functional Description "Integrated Safety Functions"
See also Troubleshooting Guide for "F7030 Pos. window for safety rel. opera
tional stop exceeded"

884/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-3230 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Extr. val. ch.:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.14.31

Data length:
Format:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
-------

P-0-3231, Reference position for safety related reference


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter determines the position value for channel 2 which takes effect
as actual position value after the execution of command "C4000 Homing pro
cedure command channel 2", when the parameterized reference event of
channel 2 was detected.
By means of parameter P03231 a specific position reference sys
tem for channel 2 can be established.
See also Functional Description "Integrated Safety Technology"
See also Troubleshooting Guide for "C4000 Homing procedure command
channel 2"

Record of Modifications

P-0-3231 - Attributes

Version

Attribute

GEN-02VRS

Format: DEC_0V

GEN-02VRS

Validity ch.: P2-3

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.32

Comment

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3232, Standstill window for safety related direction of motion


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The parameter is used as monitoring window in conjunction with safety related


direction of motion within the special mode motion.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 885/1033


and Controls

Product-Specific Parameters
P-0-3232 defines the maximum allowed travel distance in the direction which
has not been enabled, related to the actual position given at the point of time
special mode motion 1...4 is activated.
When the drive leaves the "standstill window for safety related direction of mo
tion" in the direction which has not been enabled, the error "F7031 Incorrect
direction of motion" is generated.
See also Troubleshooting Guide for "F7031 Incorrect direction of motion"
See also Troubleshooting Guide for "F7021 Safety related end position excee
ded"
See also Functional and Application Description "Integrated Safety Technolo
gy"
Use

P-0-3232 - Attributes

The following has to be observed for usage:

In addition, the monitoring window is used for safety related limited abso
lute end position (as of firmware version MPx04), if the axis is outside of
the safety related end positions. It allows moving back to the allowed po
sition range.

P-0-3232 defines the maximum allowed travel distance in the direction


which has not been enabled, related to the last actual position (tracked
threshold). When the drive leaves the "standstill window for safety related
direction of motion" in the direction which has not been enabled, the error
"F7031 Incorrect direction of motion" is generated.

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.33

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3233, Velocity threshold for safety related halt


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a velocity threshold for the "special mode standstill" or
for drive interlock.
See also Functional Description "Integrated Safety Functions"
See also Troubleshooting Guide for "F7030 Pos. window for safety rel. opera
tional stop exceeded"
See also Troubleshooting Guide for "F7050 Time for stopping process excee
ded"

Use

If the velocity values do not fall below this threshold within the "tolerance time
transition" when changing to the "special mode standstill" or after drive inter
lock, the error message "F7050 Time for stopping process exceeded" is gen
erated. In addition, this threshold is used for monitoring the velocity command
values in safety related operational stop (exception: torque control). In the case

886/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
of error, the message "F7030 Pos. window for safety rel. operational stop ex
ceeded" is generated.
P-0-3233 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.34

Extr. val. ch.:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: -min./max.


S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-3234, Safety related maximum speed


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a velocity limit which takes effect both in normal oper
ation and in special modes (safety related motion, safety related operational
stop).
When the drive exceeds this threshold, the error message "F7020 Safety rela
ted maximum speed exceeded" is generated. The drive is shut down with the
configured F7 error reaction (P-0-3210, bit 9) [velocity command value reset,
as standard].
See also Application Manual "Integrated Safety Technology"
See also Troubleshooting Guide for "F7020 Safety related maximum speed
exceeded"

Use

P-0-3234 - Attributes

The following has to be observed for usage:

As of firmware version MPx04, this functionality can be configured via a


bit in "P03239, Configuration of global safety technology functions".

For older firmware versions, the monitoring function cannot be deactiva


ted, but in applications in which it is not required it must be made ineffective
by setting an accordingly high value.

As of firmware version MPx05, this functionality can be combined with


global monitoring of the direction of motion, by means of a bit in "P-0-3239,
Configuration of global safety technology functions".

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.35

Extr. val. ch.:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: -min./max.


S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-3235, Safety related end position, positive


Allocation

Contained in 02VRS:
Contained in 03VRS:

-
-

MPH
MPH

MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 887/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD

The allowed travel range of an axis can be defined by position limit values. The
"safety related end position, positive" defines the greatest allowed actual posi
tion value in positive travel direction.
The parameterized position limits (P-0-3235 and P-0-3236) are monitored via
two channels by means of the functionality "safety related limited absolute end
position", if it has been configured in "P03239, Configuration of global safety
technology functions". The monitoring function in this case takes effect both in
normal operation and in special modes.
See also Functional and Application Description "Integrated Safety Technolo
gy"
See also Parameter Description "P-0-3236, Safety related end position, nega
tive"

Use

P-0-3235 - Attributes

The following has to be observed for usage:

Monitoring of the safety related end positions only takes effect when the
drive has been homed in a safety-related way (P-0-3213, bit 7).

When the "safety related end position, positive" is exceeded, the error
message "F7021 Safety related end position exceeded" is generated and
the drive is shut down with the configured F7 error reaction (P03210,
bit 9) [velocity command value reset, as standard].

When position or velocity command values (P-0-0048) are preset for the
drive according to the current operating mode, which are outside of the
"safety related end position, positive", the error message "F7021 Safety
related end position exceeded" is generated and the drive is shut down
with the configured F7 error reaction (P-0-3210, bit 9) [velocity command
value reset, as standard].

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.36

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3236, Safety related end position, negative


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The allowed travel range of an axis can be defined by position limit values. The
"safety related end position, negative" defines the greatest allowed actual po
sition value in negative travel direction.
The parameterized position limits (P-0-3235 and P-0-3236) are monitored via
two channels by means of the functionality "safety related limited absolute end
position", if it has been configured in "P03239, Configuration of global safety

888/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
technology functions". The monitoring function in this case takes effect both in
normal operation and in special modes.
See also Functional Description "Integrated Safety Technology"
See also Parameter Description "P-0-3235, Safety related end position, posi
tive"
Use

P-0-3236 - Attributes

The following has to be observed for usage:

Monitoring of the safety related end positions only takes effect when the
drive has been homed in a safety-related way (P-0-3213, bit 7).

When the "safety related end position, negative" is exceeded, the error
message "F7021 Safety related end position exceeded" is generated and
the drive is shut down with the configured F7 error reaction (P03210,
bit 9) [velocity command value reset, as standard].

When position or velocity command values (P-0-0048) are preset for the
drive according to the current operating mode, which are outside of the
"safety related end position, negative", the error message "F7021 Safety
related end position exceeded" is generated and the drive is shut down
with the configured F7 error reaction (P-0-3210, bit 9) [velocity command
value reset, as standard].

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.37

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3237, Safety technology absolute offset


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

With safety technology this parameter is required for homing distance-coded


motor encoders. It is the offset between the zero point of the motor encoder
(position of the 1st reference mark of the motor encoder) and the axis zero point.
See also Functional Description "Establishing the Position Data Reference"
See also Functional Description "Integrated Safety Functions"

P-0-3237 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 889/1033


and Controls

Product-Specific Parameters

4.14.38

P-0-3238, Extended safety technology status


Allocation

Function

P-0-3238 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

This parameter makes available binary status signals for online monitoring of
safety technology status signals. By means of this status word the individual
status signals can be optionally programmed to existing real-time bits of the
master communication or hardware I/Os or I/O extensions.
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.14.39

-
-
MPD
MPD

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3239, Configuration of global safety technology functions


Allocation

Function

Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

This parameter makes available binary control signals for static influence on
global safety functions. By setting the respective bit the associated monitor in
normal operation and special mode (with highest priority) is activated.
Bit
0

Designation/function

Comment

safety related maximum speed

as of MPx04

0: not active
1: active (default)
1

safety related limited absolute end position

as of MPx04

0: not active (default)


1: active
2

safety related direction of motion, positive


0: not active (default)
1: active

as of MPx05

890/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit
3

Designation/function

Comment

safety related direction of motion, negative

as of MPx05

0: not active (default)


1: active
5

activation of individual activation times of enabling control

as of MPx05

The selected times only take effect, when the selection signals
"mode selector" or "drive interlock" have been activated in ad
dition to the enabling control.
0: global activation time of enabling control for all special
modes motion (default) SBB1-4 -> P-0-3222
1: individual activation times of enabling control
SBB1 -> P-0-3246
SBB2 -> P-0-3256
SBB3 -> P-0-3266
SBB4 -> P-0-3276

Fig.4-253:
P-0-3239 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Configuration of global safety technology functions


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.14.40

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3240, Configuration of safety related motion 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

Up
to
four
different
motion
configurations
"safety
related
motion 1...4" (SBB1...4) can be configured for the safety technology operating
status "special mode motion".
This parameter makes available binary control signals for static influence on
the safety related motion 1 functions. Setting the respective bit activates the
corresponding monitoring function for motion process 1.
Bit 0 (safety related reduced speed) is always active.
See also Application Manual "Integrated Safety Technology"

Structure

Bit

Designation/function

safety related reduced speed ("SG")

reserved

safety related direction of motion, positive

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 891/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

safety related direction of motion, negative

safety related limited increment ("SM")

safety related limited absolute position ("SL")

8-15

copy of bits 0-7 (for the purpose of double input)

Fig.4-254:
P-0-3240 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-3240: configuration of safety related motion 1 ("SBB1")


Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.14.41

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
257
257
257

P-0-3241, Safety related limited absolute position 1, positive


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a positive position limit for the "special mode safety
related motion 1" and together with P03242 forms a safety related limited
absolute position range.
See also Functional and Application Description "Integrated Safety Technolo
gy"
See also Troubleshooting Guide for "F7011 Safety rel. position limit val., exc.
in pos. dir."

Use

The following has to be observed for usage:

The parameterized position limit is monitored via two channels for the du
ration of the special mode motion 1, if the "safety related limited absolute
position" has been configured in "P-0-3240, Configuration of safety related
motion 1".

When the position limit is exceeded, the error message "F7011 Safety rel.
position limit val., exc. in pos. dir." is generated.
Before the safety function "safety related limited absolute position"
is selected, the "safety related homing procedure" has to be carried
out.

P-0-3241 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
---

892/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.14.42

S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

-----

P-0-3242, Safety related limited absolute position 1, negative


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a negative position limit for the "special mode safety
related motion 1" and together with P0-3241 forms a safety related limited
absolute position range.
See also Functional and Application Description "Integrated Safety Technolo
gy"
See also Troubleshooting Guide for "F7012 Safety rel. position limit val., exc.
in neg. dir."

Use

The following has to be observed for usage:

The parameterized position limit is monitored via two channels for the du
ration of the special mode motion 1, if the "safety related limited absolute
position" has been configured in "P-0-3240, Configuration of safety related
motion 1".

When the position limit is exceeded, the error message "F7012 Safety rel.
position limit val., exc. in neg. dir." is generated.
Before the safety function "safety related limited absolute position"
is selected, the "safety related homing procedure" has to be carried
out.

P-0-3242 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.43

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3243, Safety related limited increment 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a relative position window for the "special mode safety
related motion 1" which is defined with the start of the "special mode motion 1".
For the duration of the "special mode motion 1" the drive can be freely moved
within this position window. If the function "safety related limited increment" has
been activated in motion process 1 (P0-3240, Control word for safety related
motion 1, bit 4 = 1), the error message F7010 Safety related limited increment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 893/1033


and Controls

Product-Specific Parameters
exceeded is generated in the "special mode safety related motion 1" when this
position window is exceeded.
See also Functional Description "Integrated Safety Technology"
See also Troubleshooting Guide for "F7010 Safety related limited increment
exceeded"
P-0-3243 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.44

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3244, Safety related reduced speed 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a velocity threshold (bipolar) for the safety function
"safety related reduced speed" which is always active in the "special mode
safety related motion 1".
When the threshold is exceeded, the error message "F7013 Velocity threshold
exceeded" is generated.
See also Functional Description "Integrated Safety Functions"
See also Troubleshooting Guide for "F7013 Velocity threshold exceeded"

P-0-3244 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.45

Extr. val. ch.:

Comb. check: -min./max.


S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: -Default value
-------

P-0-3245, Safety related deceleration/acceleration ramp 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

With this parameter the limit acceleration (positive and negative) that is moni
tored can be defined for the safety related motion 1 mode.
See also Functional Description "Integrated Safety Functions"

894/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-3245 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.14.46

Extr. val. ch.:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

P-0-3246, Max. activation time of enabling control 1


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
-
MPD

The numeric value entered in this parameter defines the maximum allowed time
for activating the enabling control in the "special mode motion 1" (SBB1). This
means that the enabling control has to be deactivated at the latest after the time
entered in P03246. This time only takes effect, when "individual activation
times of enabling control" have been configured in parameter "P-0-3239, Con
figuration of global safety technology functions". Otherwise, the time "P-0-3222,
Max. activation time of enabling control" takes effect in all four special modes
motion.
This means that the special mode motion is temporary.
The time monitoring detects invalid manipulation of the enabling control and
when the maximum activation time of enabling control is exceeded, the error
"F3142 Activation time of enabling control exceeded" is generated.
See also Functional Description "Integrated Safety Technology"

Use

Observe the following aspects for parameterizing P-0-3246:

The maximum activation time of enabling control 1 must be defined de


pending on the maximum application-related travel time plus some extra
time (e.g. 10%) added for reasons of safety.

In specific applications the monitoring function can be deactivated by en


tering "0".
You can do without the monitoring of the activation time, if it is not
common practice to use an enabling control in your industrial sector
and if constant motion does not represent any danger. The machine
manufacturer is responsible for the monitoring of the activation time
and his risk analysis has to show his responsibility.

See also Troubleshooting Guide for "F3142 Activation time of enabling control
exceeded"
P-0-3246 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 895/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.14.47

min./max.
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0

Default value
-------

P-0-3250, Configuration of safety related motion 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter makes available binary control signals for configuring the safety
related motion functions. By setting the respective bit the associated monitor in
the motion process is activated.
See also Functional Description "Integrated Safety Technology"
See also Functional and Application Description "Integrated Safety Technolo
gy"

Structure

The individual bits have the following significance:


See parameter description "P-0-3240, Configuration of safety related motion 1"
Bit 0 (safety related speed) is always active.

P-0-3250 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.14.48

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
257
257
257

P-0-3251, Safety related limited absolute position 2, positive


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a positive position limit for the "special mode safety
related motion 2" and together with P03252 forms a safety related limited
absolute position range.
See also Functional and Application Description "Integrated Safety Technolo
gy"
See also Troubleshooting Guide for "F7011 Safety rel. position limit val., exc.
in pos. dir."

Use

The following has to be observed for usage:

The parameterized position limit is monitored via two channels for the du
ration of the special mode motion 2, if the "safety related limited absolute
position" has been configured in "P-0-3250, Configuration of safety related
motion 2".

896/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

When the position limit is exceeded, the error message "F7011 Safety rel.
position limit val., exc. in pos. dir." is generated.
Before the safety function "safety related limited absolute position"
is selected, the "safety related homing procedure" has to be carried
out.

P-0-3251 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.14.49

Extr. val. ch.:

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3252, Safety related limited absolute position 2, negative


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a negative position limit for the "special mode safety
related motion 2" and together with P03251 forms a safety related limited
absolute position range.
See also Application Manual "Integrated Safety Technology"
See also Functional Description "Integrated Safety Technology"
See also Troubleshooting Guide for "F7012 Safety rel. position limit val., exc.
in neg. dir."

Use

The following has to be observed for usage:

The parameterized position limit is monitored via two channels for the du
ration of the special mode motion 2, if the "safety related limited absolute
position" has been configured in "P-0-3250, Configuration of safety related
motion 2".

When the position limit is exceeded, the error message "F7012 Safety rel.
position limit val., exc. in neg. dir." is generated.
Before the safety function "safety related limited absolute position"
is selected, the "safety related homing procedure" has to be carried
out.

P-0-3252 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
---

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 897/1033


and Controls

Product-Specific Parameters
MPD:
MPH:

4.14.50

S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

-----

P-0-3253, Safety related limited increment 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a relative position window for the "special mode safety
related motion 2" which is defined with the start of the "special mode motion 2".
For the duration of the "special mode motion 2" the drive can be freely moved
within this position window.
If the function "safety related limited increment" has been activated in motion
process 2 ("P03250, Control word for safety related motion 3", bit 4 = 1), the
error message "F7010 Safety related limited increment exceeded" is generated
in the "special mode safety related motion 2" when this position window is ex
ceeded.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"
See also Troubleshooting Guide for "F7010 Safety related limited increment
exceeded"

P-0-3253 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.51

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3254, Safety related reduced speed 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a velocity threshold (bipolar) for the safety function
"safety related reduced speed" which is always active in the "special mode
safety related motion 2".
When the threshold is exceeded, the error message "F7013 Velocity threshold
exceeded" is generated.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"
See also Troubleshooting Guide for "F7013 Velocity threshold exceeded"

P-0-3254 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

4Byte var.
DEC_MV

898/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:

S-0-0044

Cycl. tra.: --

--

Comb. check: --

Input
MPB:
MPD:
MPH:

4.14.52

Extr. val. ch.:

S-0-0045 /
S-0-0046
set switchable: -Decim. pl.:

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-3255, Safety related deceleration/acceleration ramp 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

With this parameter the limit acceleration (positive and negative) that is moni
tored can be defined for the safety related motion 2 mode.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"

P-0-3255 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.14.53

Extr. val. ch.:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

P-0-3256, Max. activation time of enabling control 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
-
MPD

The numeric value entered in this parameter defines the maximum allowed time
for activating the enabling control in the "special mode motion 2" (SBB2). This
means that the enabling control has to be deactivated at the latest after the time
entered in P03256. This time only takes effect, when "individual activation
times of enabling control" have been configured in parameter "P-0-3239, Con
figuration of global safety technology functions". Otherwise, the time "P-0-3222,
Max. activation time of enabling control" takes effect in all four special modes
motion.
This means that the special mode motion is temporary.
The time monitoring detects invalid manipulation of the enabling control and
when the maximum activation time of enabling control is exceeded, the error
"F3142 Activation time of enabling control exceeded" is generated.
See also Functional Description "Integrated Safety Technology"

Use

Observe the following aspects for parameterizing P-0-3256:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 899/1033


and Controls

Product-Specific Parameters

The maximum activation time of enabling control 2 must be defined de


pending on the maximum application-related travel time plus some extra
time (e.g. 10%) added for reasons of safety.

In specific applications the monitoring function can be deactivated by en


tering "0".
You can do without the monitoring of the activation time, if it is not
common practice to use an enabling control in your industrial sector
and if constant motion does not represent any danger.
The machine manufacturer is responsible for the monitoring of the
activation time and his risk analysis has to show his responsibility.

See also Troubleshooting Guide for "F3142 Activation time of enabling control
exceeded"
P-0-3256 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.14.54

PM
PM->OM
+
--

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0

Default value
-------

P-0-3260, Configuration of safety related motion 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

Up to four different motion configurations "safety related motion 1...4" can be


configured for the safety technology operating status "special mode motion".
This parameter makes available binary control signals for static influence on
the safety related motion 3 functions. Setting the respective bit activates the
corresponding monitoring function for safety related motion 3.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"

Structure

Bit

Designation/function

safety related reduced speed ("SG")

reserved

safety related direction of motion, positive

safety related direction of motion, negative

safety related limited increment ("SM")

15-8

copy of bits 7-0 (for the purpose of double input)

Fig.4-255:

P-0-3260, Configuration of safety related motion 3

Use

Bit 0 (safety related reduced speed) is always active.

900/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-3260 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.14.55

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
257
257
257

P-0-3263, Safety related limited increment 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a relative position window for the "special mode safety
related motion 3" which is defined with the start of the "special mode motion 3".
For the duration of the "special mode motion 3" the drive can be freely moved
within this position window.
If the function "safety related limited increment" has been activated in motion
process 3 ("P03260, Control word for safety related motion 3", bit 4 = 1), the
error message "F7010 Safety related limited increment exceeded" is generated
in the "special mode safety related motion 3" when this position window is ex
ceeded.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"
See also Troubleshooting Guide for "F7010 Safety related limited increment
exceeded"

P-0-3263 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.56

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3264, Safety related reduced speed 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a velocity threshold (bipolar) for the safety function
"safety related reduced speed" which is always active in the "special mode
safety related motion 3".
When the threshold is exceeded, the error message "F7013 Velocity threshold
exceeded" is generated.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 901/1033


and Controls

Product-Specific Parameters
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"
See also Troubleshooting Guide for "F7013 Velocity threshold exceeded"
P-0-3264 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.57

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-3265, Safety related deceleration/acceleration ramp 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

With this parameter the limit acceleration (positive and negative) that is moni
tored can be defined for the safety related motion 3 mode.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"

P-0-3265 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.58

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

P-0-3266, Max. activation time of enabling control 3


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
-
MPD

The numeric value entered in this parameter defines the maximum allowed time
for activating the enabling control in the "special mode motion 3" (SBB3). This
means that the enabling control has to be deactivated at the latest after the time
entered in P03266. This time only takes effect, when "individual activation
times of enabling control" have been configured in parameter "P-0-3239, Con
figuration of global safety technology functions". Otherwise, the time "P-0-3222,
Max. activation time of enabling control" takes effect in all four special modes
motion.

902/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
This means that the special mode motion is temporary.
The time monitoring detects invalid manipulation of the enabling control and
when the maximum activation time of enabling control is exceeded, the error
"F3142 Activation time of enabling control exceeded" is generated.
See also Functional Description "Integrated Safety Technology"
Use

Observe the following aspects for parameterizing P-0-3266:

The maximum activation time of enabling control 3 must be defined de


pending on the maximum application-related travel time plus some extra
time (e.g. 10%) added for reasons of safety.

In specific applications the monitoring function can be deactivated by en


tering "0".
You can do without the monitoring of the activation time, if it is not
common practice to use an enabling control in your industrial sector
and if constant motion does not represent any danger. The machine
manufacturer is responsible for the monitoring of the activation time
and his risk analysis has to show his responsibility.

See also Troubleshooting Guide for "F3142 Activation time of enabling control
exceeded"
P-0-3266 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.14.59

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
-------

P-0-3270, Configuration of safety related motion 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter makes available binary control signals for configuring the safety
related motion functions. Setting the respective bit activates the corresponding
monitoring function in the motion process.
Bit 0 (safety related speed) is always active.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"
See parameter description "P-0-3260, Configuration of safety related motion 3"

P-0-3270 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 903/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.14.60

min./max.
--- / ----- / ----- / ---

Default value
257
257
257

P-0-3273, Safety related limited increment 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a relative position window for the "special mode safety
related motion 4" which is defined with the start of the "special mode motion 4".
For the duration of the "special mode motion 4" the drive can be freely moved
within this position window.
If the function "safety related limited increment" has been activated in motion
process 4 (P03270, Control word for safety related motion 4, bit 4 = 1), the
error message "F7010 Safety related limited increment exceeded" is generated
in the "special mode safety related motion 4" when this position window is ex
ceeded.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"
See also Troubleshooting Guide for "F7010 Safety related limited increment
exceeded"

P-0-3273 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.61

Extr. val. ch.:

Comb. check: -min./max.


S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3274, Safety related reduced speed 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines a velocity threshold (bipolar) for the safety function
"safety related reduced speed" which is always active in the "special mode
safety related motion 4".
When the threshold is exceeded, the error message "F7013 Velocity threshold
exceeded" is generated.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"
See also Troubleshooting Guide for "F7013 Velocity threshold exceeded"

904/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-3274 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.14.62

Extr. val. ch.:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-3275, Safety related deceleration/acceleration ramp 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

With this parameter the limit acceleration (positive and negative) that is moni
tored can be defined for the safety related motion 4 mode.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"

P-0-3275 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.14.63

Extr. val. ch.:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

P-0-3276, Max. activation time of enabling control 4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
-
MPD

The numeric value entered in this parameter defines the maximum allowed time
for activating the enabling control in the "special mode motion 4" (SBB4). This
means that the enabling control has to be deactivated at the latest after the time
entered in P03276. This time only takes effect, when "individual activation
times of enabling control" have been configured in parameter "P-0-3239, Con
figuration of global safety technology functions". Otherwise, the time "P-0-3222,
Max. activation time of enabling control" takes effect in all four special modes
motion.
This means that the special mode motion is temporary.
The time monitoring detects invalid manipulation of the enabling control and
when the maximum activation time of enabling control is exceeded, the error
"F3142 Activation time of enabling control exceeded" is generated.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 905/1033


and Controls

Product-Specific Parameters
See also Functional Description "Integrated Safety Technology"
Use

Observe the following aspects for parameterizing P-0-3276:

The maximum activation time of enabling control 4 must be defined de


pending on the maximum application-related travel time plus some extra
time (e.g. 10%) added for reasons of safety.

In specific applications the monitoring function can be deactivated by en


tering "0".
You can do without the monitoring of the activation time, if it is not
common practice to use an enabling control in your industrial sector
and if constant motion does not represent any danger. The machine
manufacturer is responsible for the monitoring of the activation time
and his risk analysis has to show his responsibility.

See also Troubleshooting Guide for "F3142 Activation time of enabling control
exceeded"
P-0-3276 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.14.64

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0

Default value
-------

P-0-3280, Actual position value, channel 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The actual position value of channel 2 shows the current position of the motor
encoder at optional slot 1. After the drive is switched on, the actual position
value is initialized, i.e. set to an initial value, by the command "S00128, C0200
Communication phase 4 transition check" during the communication phase se
quence.
See also Functional Description "Measuring Systems"
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"

Use

If the motor encoder is an absolute measuring system, the value in "P03280,


Actual position value, channel 2" displays

the position related to the machine zero point, if "set absolute measuring"
was executed.

first of all the current absolute position of the motor encoder during initial
commissioning. The absolute position does not have any reference to the
machine zero point until "P00012, C0300 Command Set absolute meas
uring" is executed for the first time.

If the motor encoder is an incremental measuring system, the value in


"P03280, Actual position value, channel 2" displays

first of all the actual position value that has not been homed.

906/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

P-0-3280 - Attributes

the position related to the machine zero point, if the command "S00148,
C0600 Drive-controlled homing procedure command" was executed after
drive enable and if, at the same time, the motor encoder had been selected
with bit 3 in "S000147, Homing parameter".

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0076

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.14.65

Comb. check: -min./max.


--- / ----- / ----- / ---

Data length:
Format:

4Byte
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: -Default value
-------

P-0-3281, Actual velocity value, channel 2


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
MPH
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

MPD
MPD
MPD
MPD

The actual velocity value, channel 2 represents the current velocity evaluated
on channel 2 of the encoder plugged into optional slot 1.
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"

P-0-3281 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Unit:

Extr. val. ch.:

--

S-0-0044

Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.14.66

Comb. check: -min./max.


--- / ----- / ----- / ---

Data length:
Format:

4Byte
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: -Default value
-------

P-0-3282, Safety related monitored deceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPH
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

In the case of NC-controlled transitions from normal operation or special mode


motion ("SBB") to safety related standstill ("SH")/safety related operational stop
("SBH") or drive interlock ("ASP"), the drive monitors whether it can reach
standstill or velocity limit of the selected special mode safety related motion (as
of MP*04VRS) within the remaining "tolerance time for transition" (P-0-3220 or
P-0-3225). For this purpose, compliance with the deceleration ramp defined in
P03282 is controlled.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 907/1033


and Controls

Product-Specific Parameters
As of MP*04VRS, this functionality also takes effect for NC-con
trolled transitions to the special modes "safety related motion 1-4"!
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"
See also Troubleshooting Guide for "F7051 Safety related deceleration excee
ded"
Use

During the transition time, the drive is able at any time to reach standstill or
velocity limit of the selected special mode "safety related motion" within the
scope of the possible deceleration (as of MP*04VRS).
The following has to be observed for usage:

P-0-3282 - Attributes

Monitoring is only active for the duration of the NC-controlled transitions,


when it has been configured in P-0-3210, bit 13.

Monitoring takes place via two channels and in the case of error the mes
sage "F7051 Safety related deceleration exceeded" is generated!

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.14.67

Extr. val. ch.:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

P-0-3290, PROFIsafe: F_Destination_Address


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

Function

-
-
-
-
MPH
-
-
MPH
MPD
-
MPH
MPD
optional master communication card, optional safty
technologie car
"open loop", "closed loop"

In this parameter the target address (F_Destination_Address) of the safety re


lated communication connection has to be entered.
To deactivate the safety related channel "PROFIsafe" enter the val
ue "0"!
See also Functional Description "Master Communication PROFIBUS-DP"
See also Functional Description "Integrated Safety Technology"
See also Application Description "Integrated Safety Technology"

Use

Observe the following for parameterizing P03290:

The values "0" and "65535" are not allowed as destination address.

The "destination" always is the drive.

The content of P03290 must always comply with the destination address
configured in the control unit.

When a connection is existing, the destination address configured in the


control unit can be read as element 12 of P03292.

908/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
P-0-3290 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.14.68

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3291, PROFIsafe: F_Source_Address


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-
MPH
-
-
MPH
MPD
-
MPH
MPD
optional master communication card, optional safty
technologie car
"open loop", "closed loop"

Hardware
Funct. package(s):
Function

P-0-3291 - Attributes

In this parameter the source address (F_Source_Address) of the safety related


communication connection has to be entered. The values "0" and "65535" are
not allowed. The source always is the control unit. The data of this parameter
has to be identical to the one configured in the control unit. When a connection
is existing, the source address configured in the control unit can be read as
element 11 of P03292.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.14.69

PM
PM->OM
---

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3292, PROFIsafe: F_Parameters


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

Function
Structure

-
-
-
-
MPH
-
-
MPH
MPD
-
MPH
MPD
optional master communication card, optional safty
technologie car
"open loop", "closed loop"

When Profibus connection is existing, this parameter displays the parameters


of the safety related connection configured in the control unit.
Element

Valid values

Significance

14

lenght of Set_Prm data

command (F_Parameter / F_Device)

2 or 5

slot of F_module, 2 means first axis, 5 is second axis for


double-axis devices
specifier

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 909/1033


and Controls

Product-Specific Parameters

P-0-3292 - Attributes

0 or 1

1 to 3

F_SIL, this is the SIL level demanded by the control unit.

2 or 4

length of checksum (CRC2) in bytes

F_Block_ID, always has to be set to 0

F_Par_Version, is always 0

10

Reserved bits, 0 must always be displayed in this case.

11

1 to 65534

F_Source_Add, this value is compared to that of


P03291.

12

1 to 65534

F_Dest_Add, this value is compared to that of P03290.

13

10 to 2000

F_WD_Time, monitoring time in ms for the PROFIsafe


connection. It should approximately be the fourfold Tar
get Rotation Time.

14

0 to 65535

F_Par_CRC, checksum over the parameter data (CRC1)

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

F_Check_SeqNr, when the value is 1, the current num


ber (Seq_Nr) is used for checksum (CRC2) calculation.
F_Check_iPar, is not supported

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.14.70

nein
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3295, Safety technology field bus configuration


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

This parameter is used to configure safety technology field buses.


Bit

Designation/function

safety related output

Comment

0: without safety related output


1: with safety related output
1

safety related output (only in conjunction with bit 0 = 1)


0: P-P-switching output
1: P-M-switching output

Fig.4-256:
P-0-3295 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-3295, Safety technology field bus configuration


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
BIN
Decim. pl.:
0
set switchable: --

910/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.14.71

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3296, Safety technology field bus control word


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

This parameter is used to display the request sent from the command value
channel of the master (control unit) to the slave (drive).
Bit

Designation/function

mode selector ("BA")

Comment

0: select safety related operation


1: deselect safety related operation
1

drive interlock ("ASP")


0: select drive interlock
1: deselect drive interlock

enabling control ("ZT")


0: select enabling control
1: deselect enabling control

safety switch 1 ("S1")


0: select safety switch 1
1: deselect safety switch 1

safety switch 2 ("S2")


0: select safety switch 2
1: deselect safety switch 2

safety related output


0: output not active (safety related status or safety de
fault in the case of error)
1: output active

Fig.4-257:
P-0-3296 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

P-0-3296, Safety technology field bus control word


Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 911/1033


and Controls

Product-Specific Parameters

4.14.72

P-0-3297, Safety technology field bus status word


Allocation

Function

Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

This parameter is used to display the status sent from the actual value channel
of the slave (drive) to the master (control unit). The parameter contains the
result of the cross data comparison between channel 1 and 2.
Bit

Designation/function

Comment

safety technology status output of controller


0: drive is in non-safety-related status (default value)
1: drive has established safety

status drive interlock


0: not active
1: active

status safety related input 1


0: input not active (safety related status or safety default
in the case of error)
1: input active

status safety related input 2


0: input not active (safety related status or safety default
in the case of error)
1: input active

status safety related input 3


0: input not active (safety related status or safety default
in the case of error)
1: input active

status safety related input 4


0: input not active (safety related status or safety default
in the case of error)
1: input active

Fig.4-258:
P-0-3297 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

P-0-3297, Safety technology field bus status word


Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

912/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.14.73

P-0-3300, Redundant holding brake: configuration


Allocation

Function
Structure

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

This parameter is used for configuring the redundant holding brake.


Bit

Designation/function

Comment

redundant holding brake available


0: no
1: yes

kind of redundant holding brake


0: form-locking (applied with a delay, no resurfacing)
1: friction-fitting

execution of brake check


0: within the test interval (NC-controlled)
1: at transition to "SGH" [safety related decelerated
standstill], "ASP" [safety related drive interlock]
(drive-controlled)

command "release holding brake" allowed


0: no
1: yes

permanent load monitoring


0: active
1: not active

10/9

brake check in preselected direction


00: test in both directions (default)
01: test direction positive
10: test direction negative

Fig.4-259:
P-0-3300 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-3300, Redundant holding brake: configuration


Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.14.74

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte var.


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3301, Redundant holding brake: status word


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
-

-
-
MPH
MPH

-
-
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 913/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function
Structure

optional safty technologie car


"open loop", "closed loop"

This parameter is used to display the status of the redundant holding brake.
Bit

Designation/function

Comment

control of redundant holding brake

Only electrically re
leasing systems al
lowed!

0: not controlled
1: controlled
1

control acknowledgment redundant holding brake


0: not controlled
1: controlled

status of redundant holding brake


0: not successful: no brake release, or holding torque too
low, or time interval brake check exceeded (P03302)
1: successful: brake released and holding torque tested
without error

status of "brake release" check


0: brake has not released during the check, or brake re
lease not tested, or time interval brake check exceeded
(P-0-3302)
1: brake has released during the check

status of "holding torque" check


0: holding torque too low or not tested or time interval
brake check exceeded (P-0-3302)
1: holding torque is sufficient

Fig.4-260:
Use

P-0-3301 - Attributes

P-0-3301, Redundant holding brake: status word

Bit 2 "status of redundant holding brake" is used to force a repeated brake check
in the case of critical errors in time monitoring of the "safety related braking and
holding system". That is why there are further causes of bit 2 = 0:

"C3000 Synchronize and store safety technology IDN" was executed.

Repeated brake check is required due to defined errors in "safety related


braking and holding system".

Signal "HAT-Diagnose" is zero (control module "HAT" signals error or


connection to control module has been interrupted).

Signal "HAT-Diagnose" does not correspond to expectations from control


status of redundant holding brake.

During deceleration due to an error, the redundant holding brake had to


be applied at Vact > standstill.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

914/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.14.75

P-0-3302, Safety related holding system: time interval brake check


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

When "redundant holding brake available" has been activated in parameter


P-0-3300, the drive monitors the time which has passed since the last holding
brake check.

If the time interval to the last successful brake check approaches the value
of P03302 up to 15 min, the warning "E3115 Prewarning, end of brake
check time interval" is output. Exception: The drive had been in drive en
able for less than 10 seconds since the last brake check. In this case, the
warning is only generated after 5 minutes under drive enable.

If the time interval exceeds the value of P03302, the error message
"F3115 Error, brake check time interval exceeded" is generated. Excep
tion: The drive had been in drive enable for less than 10 seconds since
the last brake check. In this case, the error message "Error, brake check
time interval exceeded" is only generated after 5 minutes under drive en
able.

See also Functional Description "Motor Holding Brake"


P-0-3302 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.14.76

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
900,0 / 604800,0
900,0 / 604800,0
900,0 / 604800,0

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: -Default value
-------

P-0-3303, Safety related holding system: nominal load


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

Function

The nominal load torque of the axis is entered in this parameter. According to
the Information Sheet for gravity-loaded axes published by the institution for
statutory accident insurance and prevention ("Berufsgenossenschaft"), the
nominal load of a system has to be dimensioned with 50% of the nominal load
of the holding brake.

Use

When the load torque at the axis reaches the value in "P-0-3303, Safety related
holding system: nominal load", the warning "E3116 Nominal load torque of
holding system reached" is output. If the load torque exceeds the value in
"P-0-3303, Safety related holding system: nominal load" by more than 30 per
cent, the error "F3116 Nominal load torque of holding system exceeded" is
diagnosed.

P-0-3303 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Data length:
Format:

2Byte var.
DEC_MV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 915/1033


and Controls

Product-Specific Parameters
Unit:

S-0-0086

Cycl. tra.: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.14.77

Extr. val. ch.:

min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086

S-0-0093 /
S-0-0094
set switchable: -Decim. pl.:

Default value
-------

P-0-3304, Safety related holding system: torque/force constant


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
-
MPD

The torque/force constant indicates the relation of the motor torque/force and
the associated torque-generating current of a motor. The value should correlate
with the parameter value of "P-0-0051, Torque/force constant". The value is
used for safety related braking and holding system to monitor the load torque.
At the commissioning of safety technology, the parameter value is
stored in the safety memory and then is write-protected by
"P-0-3206, Safety technology password".
See also Functional Description "Integrated Safety Technology"

P-0-3304 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
P-0-4014
--

Input
MPB:
MPD:
MPH:

4.14.78

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
0,00 / MaxLong
0,00 / MaxLong
0,00 / MaxLong

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
P-0-4014
set switchable: -Default value
-------

P-0-3306, Delay time motor holding brake


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

The value of this parameter is the time distance between the control for applying
the motor holding brake and the occurrence of the clamping delay.
The value should be at least as high as the clamping delay of the motor holding
brake. If the selected value is too small, this causes the redundant holding brake
to be applied too early.
The value corresponds to a minimum delay between control of the motor brake
and of the redundant holding brake. If the delay of the motor holding brake,
when the holding torque takes effect, is greater than the value in "P-0-3282,
Safety related monitored deceleration", the transition of the redundant holding
brake from the released status to the applied status will only take place in
standstill.

916/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
If the redundant holding brake is to be controlled together with the
motor holding brake, set the value to 0.
See also Functional Description "Motor Holding Brake"
P-0-3306 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

4.14.79

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3307, Safety technology - drive off delay time


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

Function

The value of this parameter is the time distance between the control for applying
the motor holding brake or the red. holding brake and the torque/force disable
of the motor (drive-internal switching off of drive enable).

Use

The value should be at least as high as the maximum clamping delay of the
holding brakes in order to make sure that vertical axes which are not equilibra
ted do not drop when drive enable is switched off.
For the safety related braking and holding system, the value of parameter
P-0-3307 is written to S00207 during the transition to the operating mode
(OM). In the operating mode (OM), the value is write-protected.
See also Functional Description "Motor Holding Brake"

P-0-3307 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

4.14.80

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3310, Safety related holding system: travel range brake check


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

The allowed travel range for the brake check is entered in this parameter. This
is required to allow for torsion and backlash in the system. Particularly with
holding systems mounted on the load side, considerable deflection can occur
during the brake check.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 917/1033


and Controls

Product-Specific Parameters
P-0-3310 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: -Input


MPB:
MPD:
MPH:

4.14.81

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
-------

P-0-3311, Safety rel. hold. sys.: dur. test torque injection br. check
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
optional safty technologie car
"open loop", "closed loop"

-
-
MPD
MPD

This value determines the duration of the test torque injection during the com
mand "C2100 Brake check command".
This value applies to both brakes, when "redundant holding brake available"
has been selected in parameter "P-0-3300, Redundant holding brake: config
uration".
See also Functional Description "Integrated Safety Technology"

Use

P-0-3311 - Attributes

The suggested default value should only be increased, if the complete test tor
que cannot be applied to the brake during the parameterized time due to the
mechanical properties (e.g. backlash).
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
s
--

Input
MPB:
MPD:
MPH:

4.14.82

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
1
set switchable: --

min./max.
0,1 / 2,0
0,1 / 2,0
0,1 / 2,0

Default value
-------

P-0-3313, C5800 Command Apply redundant holding brake


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Via this parameter, it is possible to apply the redundant holding brake in the
operating mode.
When the command is started, the redundant holding brake is applied. When
the command has been completed, the brake is released if drive enable is still
present; otherwise it remains applied.
If a change of status to drive enable takes place during the active command,
the redundant holding brake is thereby released.

918/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
If the redundant holding brake is applied under speed, this can de
stroy the brake.
P-0-3313 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.14.83

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3314, C5900 Command Abrasion of redundant holding brake


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
-
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This command allows resurfacing a friction-fitting redundant holding brake


which no longer reaches its holding torque. To do this, drive enable is required.
During the execution of the command, the motor is moved against the applied
brake.
After the command "C3900" was started, 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 and P-0-1222) are taken
into account. After the command velocity has been reached, the holding brake
is applied for 400 ms. After that the drive is shut down by velocity control.
When a form-locking redundant Rexroth holding brake is selected
("P-0-3300, Redundant holding brake: configuration", bit 1), the
command cannot be activated.

Property damage caused by drive-controlled axis movements during


brake check!
Before starting the command, move the axis to a noncritical position!

CAUTION
P-0-3314 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

4.15

P-0-3600 - P-0-4067 General Device Parameters

4.15.1

P-0-3600, Master communication: software version


Allocation

Contained in 02VRS:
Contained in 03VRS:

-
MPB

-
MPH

-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 919/1033


and Controls

Product-Specific Parameters
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This parameter contains the field bus software version in the form of a text
(ASCII format).
See also Functional Description "Master Communication"

Structure

Interpret the content of the parameter as follows:

Fig.4-261:
P-0-3600 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Structure of P-0-3600, Master communication: software version


Par
----

Input
MPB:
MPD:
MPH:

4.15.2

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3601, Master communication: station name


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
MPH
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The station name of the master communication is stored in parameter


P03601. On PROFInet level a device is unequivocally addressed via the sta
tion name and the station type (string with maximum length of 255 bytes).
The device name must be unequivocal within an installation.

P-0-3601 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
-------

920/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.15.3

P-0-3602, Master communication: station type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
MPH
-
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The station type of the master communication is stored in parameter P03602.


On PROFInet level a device is unequivocally addressed via the station name
and the station type (string with maximum length of 255 bytes).
The device name must be unequivocal within an installation.

P-0-3602 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.4

PM
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3610, CANopen: Heartbeat/NodeGuard Configuration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-
MPB
MPH
-
optional master communication card
"open loop", "closed loop"

Up to MPX04: CANopen: Heartbeat Configuration


Parameter P03610 is a CANopen-specific parameter with which you can con
figure the node monitoring (heartbeat or Node Guarding).
See also Functional Description "CANopen Interface"

Structure

The individual bits of the parameter have the following significance:


Element

Designation/function

Comment

Object

Producer Heartbeat Time


(ms)

default value: 0

0x1017/00

Consumer Heartbeat Time


(ms)

default value: 0

Consumer Heartbeat Node


ID

default value: 127


min./max. value: 1/127

0x1016/01
High word

Node Guard Time (ms)

default value: 0 (switched


off)

0x100C0x100
C

2
3
4

min./max. value: 0/60000


min./max. value: 0/60000

0x1016/01
Low word

min./max. value: 0/60000


5

Life Time Factor

default value: 3

0x100D

min./max. value: 1/255

Fig.4-262:

P-0-3610, CANopen: Heartbeat/NodeGuard Configuration

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 921/1033


and Controls

Product-Specific Parameters
Use
P-0-3610 - Attributes

As only one kind of monitoring may be switched on at a time, element 4 must


be set to 0, when a value is written to element 1 or 2, and vice versa.
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.5

PM+OM
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3611, CANopen: COB-IDs


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-
MPB
MPH
-
optional master communication card
"open loop", "closed loop"

Parameter P03611 is a CANopen-specific parameter with which the COB IDs


(CAN identifiers) are set. When the default values are not changed, an address
change (P04025) is applied to the COB IDs.
See also Functional Description "CANopen"

Structure

The individual bits of the parameter have the following significance:


Element

Designation/function

Default value

Object

COB-ID PDO1(tx)

0x180 + Node-ID

0x1800/01

COB-ID PDO1(rx)

0x200 + Node-ID

0x1400/01

COB-ID PDO2(tx)

0x280 + Node-ID

0x1801/01

COB-ID PDO2(rx)

0x300 + Node-ID

0x1401/01

COB-ID PDO3(tx)

0x380 + Node-ID

0x1802/01

COB-ID PDO3(rx)

0x400 + Node-ID

0x1402/01

COB-ID PDO4(tx)

0x480 + Node-ID

0x1803/01

COB-ID PDO4(rx)

0x500 + Node-ID

0x1403/01

COB-ID EMCY

0x80 + Node-ID

0x1005/00

10

COB-ID SYNC

0x80

0x1014/00

Fig.4-263:
P-0-3611 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

P-0-3611, CANopen: COB-IDs


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

922/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.15.6

P-0-3612, CANopen: Transmission Types


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-
MPB
MPH
-
optional master communication card
"open loop", "closed loop"

Parameter P03612 is a CANopen-specific parameter with which the trans


mission types of the PDOs are set.
See also Functional Description "CANopen"

Structure

The individual bits of the parameter have the following significance:


Element

Designation/function

Comment

Object

Transmission Type PDO1(tx)

default value: 254

0x1800/02

Transmission Type PDO1(rx)

default value: 254

0x1400/02

Transmission Type PDO2(tx)

default value: 254

0x1801/02

Transmission Type PDO2(rx)

default value: 254

0x1401/02

Transmission Type PDO3(tx)

default value: 254

0x1802/02

Transmission Type PDO3(rx)

default value: 254

0x1402/02

Transmission Type PDO4(tx)

default value: 254

0x1803/02

Transmission Type PDO4(rx)

default value: 254

0x1403/02

Fig.4-264:
P-0-3612 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-3612, CANopen: Transmission Types


Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.15.7

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

P-0-3613, CANopen: List of the Event Parameters


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-
MPB
MPH
-
optional master communication card
"open loop", "closed loop"

This list contains the parameters which are monitored for changes in the case
of cyclic configuration. If such a parameter has been configured in a PDO which
is acyclically transmitted and this parameter changes, the PDO is transmitted.
See also Functional Description "CANopen"

Use

The following has to be observed for usage:

A typical application is the transmission of probe values.

This list cannot be changed by the user.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 923/1033


and Controls

Product-Specific Parameters
P-0-3613 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.15.8

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3900, Command values for control section adjust


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

List parameter for reading the voltage values to be preset that are required for
the amplification adjust of the analog channels.
This parameter is only relevant for the production process of the
control section. It is irrelevant for the application side!

P-0-3900 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.15.9

PM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong

Default value
-------

P-0-3901, Adjust values of control section


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

List parameter with the adjust values for the analog channels of the control
section.
During the production process the adjust values for the analog
channels are individually determined for each control section. They
are irrelevant for the application side and cannot be changed!
See also Functional Description "Analog Inputs"

P-0-3901 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

PM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

924/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.15.10

min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong

Default value
-------

P-0-3902, Command values for power section adjust


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

List parameter for reading the values to be preset for the amplification adjust of
the current and voltage measurement.
This parameter is only relevant for the production process of the
power section. It is irrelevant for the application side!
See also Functional Description "Analog Inputs"

P-0-3902 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
LT_SP
---

Input
MPB:
MPD:
MPH:

4.15.11

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong

Default value
-------

P-0-3903, Adjust values of power section


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

List parameter with the adjust values for the current and voltage measurement
of the power section.
During the production process the adjust values are individually
determined for each power section. The values are displayed by
this parameter, changes are not required and not allowed (writeprotected parameter)!

P-0-3903 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
LT_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
3
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 925/1033


and Controls

Product-Specific Parameters

4.15.12

P-0-3904, Adjust values analog I/O interface 3-4


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
drives optional card
"open loop", "closed loop"

MPD
MPD
MPD
MPD

List parameter with the adjust values for the analog channels 3 and 4 of the
add-on card for analog I/Os (MA1).
During the production process the adjust values for the analog
channels are individually determined for each I/O module. The val
ues are displayed via this parameter. Changes are not allowed
(write-protected parameter)!
See also Functional Description "Analog Inputs"

P-0-3904 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.15.13

PM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3905, Adjust values analog I/O interface 5-6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
drives optional card
"open loop", "closed loop"

-
-
MPD
MPD

List parameter with the adjust values for the analog channels 5 and 6 of the
add-on card for analog I/Os (MA1).
During the production process the adjust values for the analog
channels are individually determined for each I/O module. The val
ues are displayed via this parameter. Changes are not allowed
(write-protected parameter)!
See also Functional Description "Analog Inputs"

P-0-3905 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
3
set switchable: -Default value
-------

926/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.15.14

P-0-3906, Adjust values analog inputs interface 3-6


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
-
-
drives optional card
"open loop", "closed loop"

-
-
-
MPD

List parameter with the adjust values for the analog channels 3 to 6 of the analog
master communication card (control section configuration CDB01.1C-AN).
During the production process, the adjust values for the analog
channels are individually determined for each I/O module. The val
ues are displayed via this parameter. Changes are not allowed
(write-protected parameter)!
See also Functional Description "Analog Inputs"

P-0-3906 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
I2C_OPM_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.15.15

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3972, FOCsl: estimated angle


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-closed loop

P-0-3972 - Attributes

-
-
-
MPH

-
-
-
MPD

The text of the description is in preparation!


For up-to-date information,
Oriented_CurrentControl.doc"!
Function:
Memory:
Unit:
Cycl. tra.:

Par
-Deg
--

see

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.16

PM
PM->OM
---

nein
----

Technical

Note

"TN_411_3_Field-

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3973, FOCsl: correction angle


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
MPB

-
-
-
MPH

-
-
-
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 927/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-closed loop

The text of the description is in preparation!


For up-to-date information,
Oriented_CurrentControl.doc"!

P-0-3973 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Deg
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.17

see
nein
----

Note

"TN_411_3_Field-

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3974, FOCsl: encoder angle


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-closed loop

P-0-3974 - Attributes

-
-
-
MPH

-
-
-
MPD

The text of the description is in preparation!


For up-to-date information,
Oriented_CurrentControl.doc"!
Function:
Memory:
Unit:
Cycl. tra.:

Par
-Deg
--

see

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.18

Technical

Technical

nein
----

Note

"TN_411_3_Field-

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3975, FOCsl: control deviation


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-closed loop

-
-
-
MPD

The text of the description is in preparation!


For up-to-date information,
Oriented_CurrentControl.doc"!

P-0-3975 - Attributes

-
-
-
MPH

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
-A
--

see

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ---

Technical

Note

"TN_411_3_Field-

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
4
set switchable: -Default value
---

928/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.15.19

--- / ----- / ---

P-0-3980, FOCsl: configuration word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-closed loop

P-0-3980 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

see

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

-
-
-
MPD

Technical

PM
--+

Note

"TN_411_3_Field-

Data length: 4Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-3981, FOCsl: motor model configuration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-closed loop

P-0-3981 - Attributes

-
-
-
MPH

-
-
-
MPD

The text of the description is in preparation!


For up-to-date information,
Oriented_CurrentControl.doc"!
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

see

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.21

-
-
-
MPH

The text of the description is in preparation!


For up-to-date information,
Oriented_CurrentControl.doc"!

4.15.20

-----

Technical

PM+OM
PM->OM
---

Note

"TN_411_3_Field-

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
5
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-3982, FOCsl: carrier signal configuration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
MPB
-closed loop

-
-
-
MPH

-
-
-
MPD

The text of the description is in preparation!


For up-to-date information,
Oriented_CurrentControl.doc"!

see

Technical

Note

"TN_411_3_Field-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 929/1033


and Controls

Product-Specific Parameters
P-0-3982 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.15.22

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4002, Charact. of quadrature-axis induct. of motor, inductances


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter, together with parameter "P04003, Charact. of quadratureaxis inductance of motor, currents", describes the characteristic of the motor
quadrature-axis inductance Lq depending on the torque-generating current Iq.
If required (e.g. saturation phenomena), it is thereby possible to
achieve a reduction of the current loop gain for higher currents.

Structure

P04002 has a list structure; its list elements form pairs of values with those of
P04003 and these pairs of values define the characteristic.

Fig.4-265:

Significance and function of P-0-4002 and P-0-4003

The values in parameter P04002 are factors that are referring to the parameter
"P04017, Quadrature-axis inductance of motor". The inductance values Lq of
the characteristic are resulting by multiplication with this parameter.
Use

The parameter always has to contain 4 list elements. The values of these ele
ments have to be monotonously decreasing.

930/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The parameter is exclusively used if the bit "synchronous motor with
reluctance torque" or "adjustment of current loop to saturation of
quadrature-axis inductance of motor" was set in paramete
P04014, Type of construction of motor

Record of Modifications

P-0-4002 - Attributes

In the case of Bosch Rexroth MBS high speed motors by load


ing the motor parameters with the commissioning tool "Drive
Top" or "IndraWorks".

In the case of MSK motors, the value is loaded from the data
memory of the motor encoder when the control voltage of the
drive is switched on.

In the case of all other Rexroth motors, the use of the param
eter is prevented by the setting of parameter P04014 either
made automatically in the firmware or by the commissioning
tool "DriveTop" or "IndraWorks".

In the case of other motors, manual input according to manu


facturer's specification.

Version

Attribute

GEN-02VRS

Editability: P2

GEN-02VRS

Validity ch.: P2-3

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.15.23

Comment

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
StdNul / Max30T
StdNul / Max30T
StdNul / Max30T

Default value
-------

P-0-4003, Charact. of quadrature-axis inductance of motor, currents


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter, together with parameter "P04002, Charact. of quadratureaxis inductance of motor, inductances", describes the characteristic of the
motor quadrature-axis inductance Lq depending on the torque-generating cur
rent Iq.
If required (e.g. saturation phenomena), it is thereby possible to
achieve a reduction of the current loop gain for higher currents.

Structure

P04002 has a list structure; its list elements form pairs of values with those of
P04003 and these pairs of values define the characteristic.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 931/1033


and Controls

Product-Specific Parameters

Fig.4-266:

Significance and function of P-0-4002 and P-0-4003

The values in parameter P04003 are factors that are referring to the parameter
"S00111, Motor current at standstill". The current values Iq of the character
istic are resulting by multiplication with this parameter.
Use

Record of Modifications

P-0-4003 - Attributes

Observe the following for parameterization:

The parameter always has to contain 4 list elements. The values of these
elements have to be monotonously increasing.

The parameter is exclusively used if the bit "synchronous motor with re


luctance torque" was set in parameter "P04014, Type of construction of
motor".

Writing the correct value to this parameter:

In the case of Bosch Rexroth MBS high speed motors, by loading the
motor parameters with the commissioning tool "DriveTop" or "Indra
Works".

In the case of all other Rexroth motors, the use of the parameter is
prevented by the setting of parameter P04014 either made auto
matically in the firmware or by the commissioning tool "DriveTop" or
"IndraWorks".

In the case of other motors, manual input according to manufacturer's


specification.

Version

Attribute

GEN-02VRS

Editability: P2

GEN-02VRS

Validity ch.: P2-3

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
---

Comment

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
StdNul / Max30T

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: +
Default value
---

932/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
MPD:
MPH:

4.15.24

StdNul / Max30T
StdNul / Max30T

-----

P-0-4004, Magnetizing current


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In the case of asynchronous motors, the nominal magnetizing current defined


by Bosch Rexroth is entered in this parameter. The actually flowing magnetizing
current in the base speed range results by multiplication of the value of
P04004 with "P00532, Premagnetization factor". In the field weakening
range the magnetizing current, with increasing speed, is reduced by the flux
loop based on the value of this product.
Writing the correct value to this parameter:

In the case of Rexroth motors of the 2AD, ADF lines and in the
case of linear and rotary kit motors, by loading the motor pa
rameters with the commissioning software (e.g. IndraWorks).

In the case of other asynchronous motors: manual input ac


cording to manufacturer's specification.

In the case of synchronous motors, the parameter is not used


and automatically set to Aeff = 0.

See also Functional Description "Motor, Mechanical Axis System, Measuring


Systems"
P-0-4004 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
A eff
--

Input
MPB:
MPD:
MPH:

4.15.25

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
StdNul / aulFREG_Max
WertP4004[
StdNul / aulFREG_Max
WertP4004[
StdNul / aulFREG_Max
WertP4004[

Default value
1,000
1,000
1,000

P-0-4005, Flux-generating current, limit value


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In this parameter a negative limit value for the flux-generating current can be
entered.
This limit value is available for field weakening operation of synchronous motors
and therefore exclusively takes effect for synchronous motors for which field

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 933/1033


and Controls

Product-Specific Parameters
weakening operation was allowed (see parameter "P00045, Control word of
current controller").
Writing the correct value to this parameter:

In the case of Rexroth motors of the MHD, MKD, MKE and


MSK lines, automatically at initial commissioning.

In the case of linear and rotary synchronous kit motors by


loading the motor parameters with the commissioning soft
ware (e.g. IndraWorks).

In the case of other synchronous motors: manual input ac


cording to manufacturer's specification.

In the case of asynchronous motors, this parameter is auto


matically set to Aeff = 0.

See also Functional Description "Limitations"


P-0-4005 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
A eff
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input

Data length: 4Byte


Format:
DEC_MV
Decim. pl.:
3
set switchable: +

min./max.
aulFREG_MinWertId
Grenz[] / 0,0
aulFREG_MinWertId
Grenz[] / 0,0
aulFREG_MinWertId
Grenz[] / 0,0

MPB:
MPD:
MPH:

4.15.26

PM
PM->OM
+
--

Default value
0,000
0,000
0,000

P-0-4006, Positioning block target position


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the operating mode "positioning block mode" this parameter is used to define
the target positions of the max. 64 positioning blocks individually and in different
form ( list parameter with 64 elements).
The significance and internal interpretation of the entered value de
pends on "P04019, Positioning block mode"!
See also Functional Description "Positioning Block Mode"

Record of Modifications

P-0-4006 - Attributes

Version

Attribute

GEN-02VRS

Cycl. tra.: no

Comment

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0076

Cycl. tra.: AT + MDT

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0077 /
Decim. pl.:
S-0-0078
set switchable: --

934/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.15.27

min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076

Default value
-------

P-0-4007, Positioning block velocity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the operating mode "positioning block mode" this parameter is used to define
the travel velocities of the max. 64 positioning blocks individually and in different
form (list parameter with 64 elements).
See also Functional Description "Positioning Block Mode"

Record of Modifications

P-0-4007 - Attributes

Version

Attribute

GEN-02VRS

Cycl. tra.: no

GEN-02VRS

Extr. val. ch.: yes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

--

S-0-0044

Cycl. tra.: AT + MDT

Extr. val. ch.:

Data length:
Format:

4Byte var.
DEC_MV
S-0-0045 /
Decim. pl.:
S-0-0046
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.15.28

Comment

min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044

Default value
-------

P-0-4008, Positioning block acceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the operating mode "positioning block mode" this parameter is used to define
the positioning accelerations of the max. 64 positioning blocks individually and
in different form ( list parameter with 64 elements).
In conjunction with the corresponding jerk value entered in
P0-4009 the positioning acceleration entered in P0-4008 defines
the parameter content of "P00042, Current position command
average value filter order".
See also Functional Description "Positioning Block Mode"

Record of Modifications

Version

Attribute

GEN-02VRS

Cycl. tra.: no

Comment

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 935/1033


and Controls

Product-Specific Parameters
P-0-4008 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: AT + MDT

Extr. val. ch.:

4Byte var.
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

Comb. check: --

Input
MPB:
MPD:
MPH:

4.15.29

Data length:
Format:

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

P-0-4009, Positioning block jerk


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the operating mode "positioning block mode" this parameter is used to define
the positioning jerk values of the max. 64 positioning blocks individually and in
different form ( list parameter with 64 elements).
In conjunction with the corresponding jerk value entered in
P0-4009 the positioning acceleration entered in P0-4008 defines
the parameter content of "P00042, Current position command
average value filter order".
See also Functional Description "Positioning Block Mode"

Record of Modifications

P-0-4009 - Attributes

Version

Attribute

GEN-02VRS

Cycl. tra.: no

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.15.30

Comment

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

P-0-4010, Load inertia


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays the (motor-related) load inertia reduced to the motor.
It is used for:

automatic control loop setting (C1800)

sensorless, flux-controlled operation of asynchronous motors (FXC)

936/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
If none of the mentioned cases is used, it is not necessary to enter a value!
Depending on bit 9 of parameter "P-0-4014, Type of construction of motor", the
value has a different significance:

load inertia, motor-related (without rotor inertia) for rotary motor

load mass (without primary part mass) for linear motor

See also Functional Description "Automatic Setting of Axis Control"


Use

Automatic control loop setting


If desired, the load inertia can be automatically determined by executing the
command "P-0-0162, C1800 Command Automatic control loop adjust". If you
know the exact axis-side inertia value, you should enter this value in P-0-4010!
The load inertia or load mass is important for optimizing the velocity control
loop.
Sensorless, flux-controlled operation of asynchronous motors (FXC)
For sensorless, flux-controlled operation of asynchronous motors, the value of
the motor-related load inertia is important for the setting of the frequency loop.
Therefore, enter the motor-related, axis-side inertia value. The value can be
available from the machine construction, otherwise it has to be determined by
a run-up test.
See also Functional Description "Sensorless Motor Operation, Flux-Controlled"
Automatic control loop setting (C1800) and sensorless, flux-con
trolled operation of asynchronous motors are mutually exclusive!
Unit, decimal places
The drive firmware automatically adjusts the unit and decimal places to the type
of construction of the motor (rotary or linear) entered in "P04014, Type of
construction of motor".
Unit for type of constr. of motor (P04014) Decimal places for type of constr. of motor
(P04014)
rotary

linear

rotary

linear

kgm2

kg

Fig.4-267:
P-0-4010 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Unit and decimal places of P-0-4010, depending on P-0-4014


Par
PARAM_SP
P-0-4014
--

Input
MPB:
MPD:
MPH:

4.15.31

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
P-0-4014
set switchable: +

min./max.
--- / ----- / ----- / ---

Default value
0,000000
0,000000
0,000000

P-0-4013, Current limit value of demagnetization


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 937/1033


and Controls

Product-Specific Parameters
Function

This parameter contains a percentage value which is referring to parameter


"S00109, Motor peak current" for synchronous motors. If you multiply this
percentage value with the value of S00109, the result is the current limit value.
If the current limit value is exceeded, the magnets of the synchronous motor
risk being permanently demagnetized.
In case the limit value is exceeded, the power output stage of the controller is
temporarily locked to protect the motor, until the current has fallen below the
limit value again. While the power output stage is locked the warning "E8028
Overcurrent in power section" is generated.
Writing the correct value to this parameter:

In the case of MSK, MHD, MKD, MKE, automatically when the


control voltage of the drive is switched on.

In the case of synchronous motors without encoder memory,


by loading the motor parameters by means of the commis
sioning software (e.g. IndraWorks) or default value (from firm
ware).

In the case of other motors, manual input according to manu


facturer's specification.

See also Functional Description "Limitations"


P-0-4013 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
%
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.32

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: +

min./max.
100 / 150
100 / 150
100 / 150

Default value
120
120
120

P-0-4014, Type of construction of motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By this parameter the controller is informed of control-relevant features of the


connected motor, such as

functional principle

type of construction

encoder data memory

See also Functional Description "General Information on the Operation of Mo


tors with IndraDrive"

938/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Structure

Bit

Designation/function

functional principle

Comment

0: synchronous
1: asynchronous
9

type of construction
0: rotary
1: linear

10

encoder data memory


0: not available
1: available

11

type of construction for synchronous motors


0: without reluctance torque
1: with reluctance torque

12

adjustment of current loop to saturation of quadratureaxis inductance of motor


0: no
1: yes

13

P-0-0640, Cooling type taken into account


0: P-0-0640 is inactive
1: P00640 is active and has to be adjusted to the real
ized motor cooling!

14

Thermal time constant reduced in standstill?


0: no reduction
1: thermal time constant reduced to half the value
(P-0-4034, P-0-4035)

Fig.4-268:
Use

P-0-4014, Type of construction of motor

Units, decimal places


For some parameters it is necessary that the drive firmware adjusts the units
and decimal places to the type of construction of the motor (rotary or linear). In
this case the respective units and decimal places are indicated directly for the
concerning parameter.
Motors with encoder data memory
In the case of Rexroth motors with encoder data memory (e.g. MSK, MHD,
MKD, MKE, MAD, MAF), the bits of this parameter are automatically set cor
rectly! This is done during the booting process (after switching on the controller)
and with every transition to phase 4 (status ready for operation).
Motors without encoder data memory
In the case of Rexroth motors without encoder data memory (e.g. 2AD, ADF,
MSS, 1MS, LSP, MTS), the bits of this parameter are automatically set correctly
when the motor parameters are loaded from the data base of the commission
ing tool "DriveTop" (as of 15VRS).
When the motor parameters of motors without encoder data memory (e.g. 2AD,
ADF, MSS, 1MS, LSP, MST) are loaded via an NC, the mentioned bits of
P04014, Type of construction of motor have to be set to the appropriate value
on the user side!

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 939/1033


and Controls

Product-Specific Parameters
Third-party motors
In case the characteristic of the quadrature-axis inductance of the motor is in
dicated for synchronous third-party motors (there are manufacturer-side data
for P04002, Charact. of quadrature-axis induct. of motor, inductances and
P04003, Charact. of quadrature-axis inductance of motor, currents available),
the following applies to bit 11 and bit 12:

Possibly available reluctance property cannot be used for synchronous


third-party motors! Determining motor parameter values which are safe to
operate for using the reluctance property is impossible for third-party mo
tors, therefore bit 11 mustn't be set!

If during velocity loop setting or optimization the drive is subject to oscil


lation due to a lack of bandwidth in the current control loop, set bit 12 to
"1" by way of trial. If there is no improvement, reset the bit.

Record of Modifications

Version

Attribute

GEN-02VRS

Editability: P2

GEN-02VRS

Validity ch.: P2-3

Comment

.
P-0-4014 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.15.33

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
-+

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: +

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4016, Direct-axis inductance of motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For synchronous motors, the direct-axis inductance of the motor is entered in


this parameter. The direct-axis inductance is the inductance of the d-axis in the
field-oriented d-q coordinate system and is also called Ld. Observe that for the
direct-axis inductance of the motor a value is expected that was determined
from the inductances of the 3-phase motor model by space vector transforma
tion.

940/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Writing the correct value to this parameter:

for Rexroth motors of the MHD, MKD, MKE and MSK lines
automatically at initial commissioning

for linear and rotary synchronous kit motors by loading the


motor parameters with the commissioning software (e.g. In
draWorks)

for other synchronous motors manual input according to man


ufacturer's specification (see completed form for the output
data of synchronous motors!)

The parameter is not used for asynchronous motors.

See also Functional Description "Third-Party Motors at IndraDrive Controllers"


P-0-4016 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
mH
--

Input
MPB:
MPD:
MPH:

4.15.34

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
1,000
1,000
1,000

P-0-4017, Quadrature-axis inductance of motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For synchronous motors, the quadrature-axis inductance of the motor is en


tered in this parameter. The quadrature-axis inductance is the inductance of
the q-axis in the field-oriented d-q coordinate system and is also called Lq.
Observe that for the quadrature-axis inductance of the motor a value is expec
ted that was determined from the inductances of the 3-phase motor model by
space vector transformation.
Writing the correct value to this parameter:

for Rexroth motors of the MHD, MKD, MKE and MSK lines
automatically at initial commissioning

for linear and rotary synchronous kit motors by loading the


motor parameters with the commissioning software (e.g. In
draWorks)

for other synchronous motors manual input according to man


ufacturer's specification (see completed form for the output
data of synchronous motors!)

The parameter is not used for asynchronous motors.

See also Functional Description "Third-Party Motors at IndraDrive Controllers"


P-0-4017 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Data length:
Format:

4Byte
DEC_OV

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 941/1033


and Controls

Product-Specific Parameters
Unit:
mH
Cycl. tra.: --

Extr. val. ch.: +


Comb. check: --

Input
MPB:
MPD:
MPH:

4.15.35

Decim. pl.:
3
set switchable: +

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
1,000
1,000
1,000

P-0-4018, Positioning block mode delay time


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPB
-closed loop

-
-
MPH
MPH

-
-
MPD
MPD

In the positioning block mode, parameter P04018 is used to parameterize a


defined delay time between the individual positioning blocks.
See also Functional Description "Positioning Block Mode"

Use

As this is a list parameter with 64 elements, you can define individual and dif
ferent delay times at block transition for all 64 positioning blocks.
Observe the following aspects for parameterization:

P-0-4018 - Attributes

The positioning block mode delay time only takes effect for a sequential
block with intermediate stop.

When the programmed target position of the block has been reached, the
drive waits for the delay time P04018[n] until the sequential block block
[n+1] is started.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.36

PM+OM
PM->OM
+
--

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 60000
0 / 60000
0 / 60000

Default value
-------

P-0-4019, Positioning block mode


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the operating mode "positioning block mode" this parameter is used to define
the positioning block mode. It is possible to define the mode for each of the
max. 64 available positioning blocks individually and in different form.
See also Functional Description "Positioning Block Mode"

Structure

The table below illustrates the operating principle (function) of the individual bits
in P04019:

942/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

0 = abs. 1= rel.

infinite travel in positive direction

infinite travel in negative direction

sequential block without halt mode 1

sequential block without halt mode 2

sequential block with halt

sequential block at switch signal

residual path processing for relative travel blocks

Fig.4-269:

Comment

P-0-4019, Positioning block mode

Bit 0 of P04019 is not relevant for IndraDrive. Bit 1 controls wheth


er the positioning block is absolute or relative. For reasons of
compatibility with EcoDrive, "old parameter settings" are still ac
cepted!
Record of Modifications

P-0-4019 - Attributes

Version

Attribute

GEN-02VRS

Cycl. tra.: no

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Comment

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.37

PM+OM
PM->OM
---

Data length: 2Byte var.


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4021, Baud rate RS-232/485


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

By means of this parameter it is possible to set several baud rates (transmission


rates) for the serial interface. The required setting depends on the communi
cation partner.
See also Functional Description "Serial Communication"

Structure

MPD
MPD
MPD
MPD

Baud rate [baud]

Setting in P-0-4021

9600

19200

38400

57600

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 943/1033


and Controls

Product-Specific Parameters
Baud rate [baud]

Setting in P-0-4021

115200

6
settings 4 and 5 are reserved

Fig.4-270:

Baud rate setting

The preset value is 9600 baud (default value).


All bus nodes must be set to the same baud rate.

WARNING
P-0-4021 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.15.38

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdNul / 6
StdNul / 6
StdNul / 6

Default value
0
0
0

P-0-4022, Drive address of serial interface


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter it is possible to set the address for the serial inter
face. This can be done via the control panel, the serial interface or the master
communication interface.
The effective address can be directly taken from P04022 or from
the list "P04031, Overview of device addresses"!
See also Functional Description "Serial Communication"
See also Parameter Description "P-0-4031, Overview of device addresses"

Use

P-0-4022 - Attributes

With the setting "P-0-4022 = "256" ( default value), the address set in
"P04025, Drive address of master communication" is used for the serial com
munication.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
1 / 99
1 / 99
1 / 99

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
256
256
256

944/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.15.39

P-0-4023, C0400 Communication phase 2 transition


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Transition command from operating mode or from phase 3 (P3) to the param
eterization mode or phase 2 (P2). The command can only be executed when
the drive enable has been disabled.
See also Functional Description "Parameters, Basics"

P-0-4023 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.15.40

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

P234
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4024, IDN list cyclic parameter display


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

This parameter contains the IDNs which can be selected for cyclic display on
the control panel (VCP).
See also Functional Description "Parameters, Basics"

P-0-4024 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.15.41

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4025, Drive address of master communication


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter, it is possible to set the address for the master
communication (e.g. SERCOS, Profibus...).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 945/1033


and Controls

Product-Specific Parameters
The currently effective address can be directly taken from param
eter "S00096, Slave arrangement (SLKN)" or "P-0-4031, Over
view of device addresses"!
See also Functional Description "Serial Communication"
Use

The following has to be observed for parameterization:

The parameter can be set via the control panel, the serial interface or the
master communication interface.
With SERCOS, it can only be changed in phase 0, with all other
devices in the parameter mode ("PM").

The entered address does not take immediate effect, but:

SERCOS: only at the next change of communication phases from


"phase 0" to "phase 1"; this is why it might possibly be required to
run up the drive again.

field bus and analog/parallel: at the next change to the operating


mode ("OM").

With the setting P-0-4022 = "256" (default value), the address set in
"P04025, Drive address of master communication" is used for the serial
communication.

See also Parameter Description "P-0-4031, Overview of device addresses"


See also Parameter Description "S-0-0096, Slave arrangement (SLKN)"
P-0-4025 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.15.42

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
1 / 99
1 / 99
1 / 99

Default value
-------

P-0-4026, Positioning block selection


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Selected positioning block 0 to 63


See also Functional Description "Positioning Block Mode"

P-0-4026 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

min./max.
0 / 63
0 / 63
0 / 63

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0
0
0

946/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.15.43

P-0-4027, Transmission length SERCOS interface


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The length of the optic fiber connected to X20 (Tx) is entered in this parameter.
Depending on the entered optic fiber length the required transmitting power of
the light source is automatically set. The controller classifies the entered length
in one of four ranges.
Ranges of length for the connected optic fiber:

up to 15 m

15 m ... 30 m

30 m ... 45 m

more than 45 m and glass fiber

See also Functional Description "SERCOS interface"


P-0-4027 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
m
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.44

P234
P2->P3
---

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
20
20
20

P-0-4028, Device control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For devices with analog or parallel master communication, this parameter is


used to control the drive. To control the drive, bit 15 of the parameter must be
configured for a digital input.
It is not absolutely necessary to apply the bits 14 and 13; they have
1-signal by default value.
See also Functional Description "Master Communication"
See also Functional Description "Operating Modes"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 947/1033


and Controls

Product-Specific Parameters
Structure

Bit

Designation/function

Comment

8/9

command operating mode


000: primary mode of operation

as of MPx05

001: secondary oper. mode 1


010: secondary oper. mode 2
011: secondary oper. mode 3
100: secondary oper. mode 4
101: secondary oper. mode 5
110: secondary oper. mode 6
111: secondary oper. mode 7
13

Drive Halt, 1-0 change


deceleration of drive while maintaining max. acceleration
(S-0-0372) (only possible when bits 14 and 15 = 1)

14

drive enable
1-0 change torque disable without delay (independent of
bit 15 or 13)

15

drive ON
1-0 change best possible deceleration (only possible if
bit 14 = 1)

Fig.4-271:
P-0-4028 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Relevant bits of P-0-4028, Device control word


Par
--AT + MDT

Input
MPB:
MPD:
MPH:

4.15.45

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

P-0-4029, Diagnostic report SCSB module


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Parameter for reading master communication settings and states (with SER
COS interface).
This parameter is only relevant for the development staff! It is irrel
evant for the application side!

P-0-4029 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

948/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.15.46

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4031, Overview of device addresses


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used to display the following addresses in clearly structured


and holistic form which is particularly important for multi-axis devices:

effective drive address of master communication that was set via param
eter P04025

effective drive address of serial interface that was set via parameter
P04022
Especially for multi-axis devices (e.g. HMD01.1) the parameter
P04031 provides a clear overview as regards the axis addresses
effective in the device.

Use

As an example of a double-axis device, the figure below illustrates the basic


structure and the relationship to the other address parameters (S00096,
P04022 and P04025):

MC address

Fig.4-272:

master communication address

Structure and function of P04031, Overview of device addresses

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 949/1033


and Controls

Product-Specific Parameters

Example:
In the following example the parameter settings below were made:

axis 1: (P-0-4022 = 5, P-0-4025 = 5)

axis 2:(P-0-4022 = 8, P-0-4025 = 4)

The resulting parameter content for P04031 is the following:


High word
List index
(log. axis number)

Low word

Effective address of master Effective address of serial


communication
interface

0x0005

0x0005

0x0004

0x0008

Fig.4-273:

Structure of P04031 (example double-axis module)

Parameter S00096 would then accordingly contain 0x0504 (axis


1) or 0x0405 (axis 2)!
See also Parameter Description "S-0-0096, Slave arrangement (SLKN)"
P-0-4031 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.47

nein
----

Data length: 4Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4032, Motor type plate data


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

For asynchronous third-party motors it is possible via "C3200 Command Cal


culate motor data" to calculate the values for motor parameters from the type
plate data and then the values of the motor control parameters. The activation
of C3200 first requires manual input of the motor data from the type plate of the
asynchronous motor in the list parameter P04032, Motor type plate data.
When a Rexroth motor is used, the content of P04032 and the
command C3200 are irrelevant as for these motors all parameters
required for operation are stored in the data base for motor data
(DriveBase).
See also Functional Description "Automatic Setting of Motor Control"

Structure

The individual list elements have the following significance.

950/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
List ele
ment

Characteristic value of
motor

Default
value

Unit

Definition

rated current

4,000

Aeff

rms value of the electric


current in the motor feed
wire (motor phase) at rat
ed load

rated voltage

380,000

Veff

rms value of the phase-tophase voltage between


the motor terminal pins at
rated load

rated frequency

50,000

Hz

frequency of the feeding,


sinusoidal electric voltage

rated speed

925,000

1/min

power factor cos

0,760

power factor at rated load

rated power

1,500

kW

mechanical power that


can be continuously deliv
ered at rated load

Fig.4-274:

speed of motor output


shaft at rated load

List elements P04032

"Rated load" means load of the motor output shaft with rated torque
when feeding the motor with rated voltage and rated frequency. The
rated load point mustn't be in the field weakening range! The power
at the output shaft is the rated power!
Use

P-0-4032 - Attributes

Observe the following for parameterizing or inputting the elements:

All data in P04032 have to describe the same working point of the motor.
This working point mustn't be in the field weakening range and should
describe the S1 operation (continuous power of the motor).

All list elements are 32-bit values and have 3 decimal places.

The list parameter has a fixed length with 6 elements.

Writing data to the parameter is only possible in phase 2 or 3.

The data in P04032 do not have a direct influence on motor control: It is


only by starting the command C3200 via P04033 that all motor data
(equivalent circuit diagram) and motor control parameters are calculated.

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.15.48

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
-+
--

Data length: 4Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,000 / 250000,000
0,000 / 250000,000
0,000 / 250000,000

Default value
-------

P-0-4033, C3200 Command Calculate motor data


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 951/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

For asynchronous third-party motors it is possible via "C3200 Command Cal


culate motor data" to calculate the values for motor parameters from the type
plate data and then the values of the motor control parameters. The activation
of C3200 first requires manual input of the motor data from the type plate of the
asynchronous motor in the list parameter "P04032, Motor type plate data".
When a Rexroth motor is used, the content of P04032 and the
command C3200 are irrelevant as for these motors all parameters
required for operation are stored in the data base for motor data
(DriveBase).
See also Functional Description "Automatic Setting of Motor Control"

P-0-4033 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.15.49

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4034, Thermal time constant of winding


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The value for the thermal time constant of the motor winding is entered in this
parameter. This is done

for Rexroth motors with encoder data memory, when the control voltage
of the drive is switched on

manually or via the motor data base of the commissioning software (e.g.
IndraWorks) for Rexroth motors without encoder data memory

manually for third-party motors

See also Functional Description "Current and Torque Limitation (Closed-Loop)"


Use

The thermal time constant of the motor winding is the time after which the motor
winding has reached 63% of its final temperature, when it is carrying constant
current.
For Rexroth motors with cooling type to be selected (MSK, MHD,
MKD, MKE), the value of P04034 is independent of the actually
realized cooling type and the corresponding setting in "P00640,
Cooling type"!
The motor temperature model calculates with a time constant for
the temperature rise of the motor winding (P04034) and a time
constant for the temperature rise of the motor housing (P004035)!

P-0-4034 - Attributes

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM
PM->OM

Data length:
Format:

2Byte
DEC_OV

952/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
s
Cycl. tra.: --

Extr. val. ch.: +


Comb. check: --

Input
MPB:
MPD:
MPH:

4.15.50

Decim. pl.:
1
set switchable: +

min./max.
StdOne / StdSIMax
StdOne / StdSIMax
StdOne / StdSIMax

Default value
2,0
2,0
2,0

P-0-4035, Thermal time constant of motor


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The thermal time constant of the motor is the time after which the motor housing,
given constant current in the motor winding, has reached 63% of its final tem
perature in the case of standard cooling type (see table below).
In the firmware-internal motor temperature model, this value is the basis for
determination of the motor housing time constant which takes effect depending
on the cooling type:

For motors with non-variable cooling type, the value corresponds to the
effective motor housing time constant.

For motors with variable cooling type, the effective motor housing time
constant is determined via P04035 and "P00640, Cooling type".

Motor type

Standard cooling
type

Notes

MSK, MHD, MKD,


MKE

non-ventilated

variable cooling type

MAD, MAL, 2AD

ventilated

set "P-0-0640, Cooling type" according to


realized cooling type
non-variable cooling type
"P-0-0640, Cooling type" is inactive

MAF, ADF, MBS,


MBT, 1MB, MLF,
LSF

liquid-cooled

third-party motor

unknown

Fig.4-275:

non-variable cooling type


"P-0-0640, Cooling type" is inactive
is considered as non-variable cooling
type, "P-0-0640, Cooling type" is inactive

Standard cooling types of motors

The motor temperature model calculates with a time constant for


the temperature rise of the motor winding (P04034) and a time
constant for the temperature rise of the motor housing (P04035)!
See also Functional Description "Current and Torque Limitation"
Use

The value for the thermal time constant of the motor is entered in P04035
parameter. This is done

for Rexroth motors with encoder data memory, when the control voltage
of the drive is switched on.

for Rexroth motors without encoder data memory, manually or by means


of the motor database of the commissioning software (e.g. IndraWorks).

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 953/1033


and Controls

Product-Specific Parameters

manually for third-party motors, set the value according to the realized
cooling type.
When the value "0" is entered for P-0-4035, the motor temperature
model only calculates with the time constant of the motor winding
(P04034). The output current of the controller is only limited to the
maximum KB current, not to the maximum allowed continuous cur
rent!

P-0-4035 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
min
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.51

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
StdNul / StdSIMax
StdNul / StdSIMax
StdNul / StdSIMax

Default value
0,0
0,0
0,0

P-0-4036, Rated motor speed


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter defines the speed that begins above the field weakening range.
Voltage reference value is DC bus voltage DC540V (uncontrolled supply at
3xAC400V 5%).
Writing the correct value to this parameter:

for Rexroth motors of the MAD and MAF lines, if an encoder


data memory is available, automatically at initial commission
ing

for linear and rotary asynchronous kit motors by loading the


motor parameters with the "IndraWorks D" commissioning tool

for other asynchronous motors manual input according to


manufacturer's specification (see completed form for the out
put data of asynchronous motors!)

The parameter is not used for synchronous motors.

See also Functional Description "Motor Control"


P-0-4036 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
Rpm
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

min./max.
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
4
set switchable: +
Default value
1000,0000
1000,0000
1000,0000

954/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.15.52

P-0-4037, Thermal short-time overload of winding


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The value for the thermal time short-time overload factor of the motor winding
is entered in this parameter.
This is done

for Rexroth motors with encoder data memory, when the control voltage
of the drive is switched on

manually or via the motor data base of the commissioning software (e.g.
IndraWorks) for Rexroth motors without encoder data memory

manually for third-party motors

See also Functional Description "Current and Torque Limitation (Closed-Loop)"


Use

The thermal time short-time overload factor of the motor winding acts in a mul
tiplicative way on "S00111, Motor current at standstill". It indicates to which
value the motor current is limited with the thermal time constant of the motor
winding, unless any other thermal limitation by the thermal time constant of the
motor (housing!) takes effect.
For Rexroth motors the value of S00111 always refers to the
standard cooling type of the motor! For motors with cooling type to
be selected (MSK, MHD, MKD, MKE), this is always the non-ven
tilated case! See also Parameter Description of P00640!
The motor temperature model calculates with a time constant for
the temperature rise of the motor winding (P04034) and a time
constant for the temperature rise of the motor housing (P004035)!

P-0-4037 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.53

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
1
set switchable: +

min./max.
1,0 / 4,5
1,0 / 4,5
1,0 / 4,5

Default value
2,2
2,2
2,2

P-0-4039, Stator leakage inductance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is only used for operating asynchronous motors and takes effect
for current control of the motor.
For Rexroth motors this value is stored in the DriveBase.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 955/1033


and Controls

Product-Specific Parameters
For third-party motors this parameter is calculated via the command C3200
Command Calculate data for asynchronous motor that is started with P04033.
See also Functional Description "Motor Control"
Use

Technical background:
The stator leakage inductance Ls,Sigma is a part of the equivalent circuit diagram
that is used for describing an asynchronous machine. The equivalent circuit
diagram is the basis for motor control of the asynchronous motor. The indicated
values are referring to one winding phase, the approach always implying a start
connection. This does not indicate how the windings in the motor are actually
wired.

Rs
Ls,Sigma
LH
Lr,Sigma
Rr

Fig.4-276:

P-0-4039 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

stator resistor
stator leakage inductance
magnetizing inductance
rotor leakage inductance
rotor resistor

Equivalent circuit diagram of the asynchronous machine

Par
PARAM_SP
mH
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.54

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,001 / MaxULong
0,001 / MaxULong
0,001 / MaxULong

Default value
5,000
5,000
5,000

P-0-4040, Rotor leakage inductance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is only used for operating asynchronous motors and takes effect
for current control of the motor.
For Rexroth motors this value is stored in the DriveBase.
For third-party motors this parameter is calculated via the command C3200
Command Calculate data for asynchronous motor that is started with P04033.
See also Functional Description "Motor Control"

Use

Technical background:

956/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
The rotor leakage inductance Lr,Sigma is a part of the equivalent circuit diagram
that is used for describing an asynchronous machine. The equivalent circuit
diagram is the basis for motor control of the asynchronous motor.
The indicated values are referring to one winding phase, the approach always
implying a star connection. This does not indicate how the windings in the motor
are actually wired.

Rs
Ls,Sigma
LH
Lr, Sigma
Rr

Fig.4-277:

P-0-4040 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

stator resistor
stator leakage inductance
magnetizing inductance
rotor leakage inductance
rotor resistor

Equivalent circuit diagram of the asynchronous machine

Par
PARAM_SP
mH
--

Input
MPB:
MPD:
MPH:

4.15.55

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,001 / MaxULong
0,001 / MaxULong
0,001 / MaxULong

Default value
5,000
5,000
5,000

P-0-4041, Motor magnetizing inductance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is only used for operating asynchronous motors and takes effect
for current control of the motor.
For Rexroth motors this value is stored in the DriveBase. For third-party motors
this parameter is calculated via the command C3200 Command Calculate data
for asynchronous motor that is started with P04033.
See also Functional Description "Motor Control"

Use

The motor magnetizing inductance LH is a part of the equivalent circuit diagram


that is used for describing an asynchronous machine. The equivalent circuit
diagram is the basis for motor control of the asynchronous motor. The indicated
values are referring to one winding phase, the approach always implying a start
connection. This does not indicate how the windings in the motor are actually
wired.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 957/1033


and Controls

Product-Specific Parameters

Rs
Ls,Sigma
LH
Lr,Sigma
Rr

Fig.4-278:

P-0-4041 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

stator resistor
stator leakage inductance
magnetizing inductance
rotor leakage inductance
rotor resistor

Equivalent circuit diagram of the asynchronous machine

Par
PARAM_SP
mH
--

Input
MPB:
MPD:
MPH:

4.15.56

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,010 / StdUMax
0,010 / StdUMax
0,010 / StdUMax

Default value
50,000
50,000
50,000

P-0-4042, Characteristic of motor magnetizing inductance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This list parameter is only used for operating asynchronous motors and takes
effect for current control of the motor.

For Rexroth motors the characteristic values are made available by the
manufacturer, either by means of a data sheet or the commissioning soft
ware (e.g. IndraWorks).

For third-party motors the characteristic in the majority of cases is un


known. Via the command "C3200, Command Calculate data for asyn
chronous motor" that is started with P04033 the list is neutrally assigned.

Via the command "C3600 Command Motor data identification" that is star
ted with P00565 the characteristic of the asynchronous motor is deter
mined and entered in this list.

See also Functional Description "Motor Control"


Use

The magnetizing inductance of an asynchronous motor normally already shows


saturation behavior in operation under rated conditions. The inductance value
of the motor magnetizing inductance depends on the currently flowing mag
netizing current and increases as the current is reduced.

958/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
List element no. of
P-0-4042

Value factor "fLh(n)"

Reference value

(value range 0.5....2.0)


(Lh(n) = fLh(n)*(P-0-4041))

fLh(No.1) >= fLh(No.2)

0% of P-0-4004 (0,0)

fLh(No.2) >= fLh(No.3)

20% of P-0-4004 (0,2)

fLh(No.3) >= fLh(No.4)

40% of P-0-4004 (0,4)

fLh(No.4) >= fLh(No.5)

60% of P-0-4004 (0,6)

fLh(No.5) >= fLh(No.6)

80% of P-0-4004 (0,8)

1,0

100% of P-0-4004 (1,0)

fLh(No.7) <= fLh(No.6)

120% of P-0-4004 (1,2)

fLh(No.8) <= fLh(No.7)

140% of P-0-4004 (1,4)

fLh(No.9) <= fLh(No.8)

160% of P-0-4004 (1,6)

P-0-4041
P-0-4004

Fig.4-279:

Fig.4-280:
P-0-4042 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Motor magnetizing inductance


Magnetizing current

Characteristic of magnetizing inductance Lh in factors "fLh" referring to


P-0-4041 depending on the flowing magnetizing current (%-value of
P-0-4004)

Illustration of the Lh characteristic P04042


Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.57

PM
PM->OM
+
--

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,500 / 2,000
0,500 / 2,000
0,500 / 2,000

Default value
-------

P-0-4043, Rotor time constant


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 959/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

-"open loop", "closed loop"

This parameter is only active for asynchronous motors. It has a considerable


influence on the torque generation of the motor, as it decisively determines the
so-called "slip" in the case of load.
"Slip" is the difference of the rotational frequency of the electric ro
tary field in the stator divided by the number of pole pairs of the
motor and the mechanical rotational frequency of the rotor.
The value for P04043 is motor-specific and for asynchronous Rexroth motors
is made available via the commissioning software (e.g. IndraWorks) or via the
Intranet output of the manufacturer-side data base DriveBase!

P-0-4043 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.58

PM+OM
PM->OM
+
--

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

min./max.
0,100 / 10000,000
0,100 / 10000,000
0,100 / 10000,000

Default value
100,000
100,000
100,000

P-0-4045, Maximum possible continuous current


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter indicates how much current the controller can continuously
provide in the present load situation. At the same time, this current is the current
to which the continuous current limitation would reduce, if the load situation
would continue.
See also Functional Description "Current Limitation Loop"

P-0-4045 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-A eff
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.59

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4046, Effective peak current


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter displays the maximum current that the controller can tempora
rily supply to the motor in the active load condition. This is the rms value of the

960/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
total current, i.e. torque-generating and magnetic-field-generating components
are contained!
See also Functional Description "Current Limitation Loop"
Use

This parameter is calculated and preset by the drive controller when progress
ing to the operating mode. The dynamic current limitation reduces this value in
accordance with the work load of the amplifier or the motor.
This limit value is determined considering the following parameters:
IDN

Name

Unit

S-0-0109

Motor peak current

A eff

S-0-0110

Amplifier peak current

A eff

P-0-4058

Amplifier type data

P-0-4004

Magnetizing current

Fig.4-281:
P-0-4046 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Effective peak current, dependencies


Par
-A eff
AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.60

A eff
nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4048, Stator resistance


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter indicates the winding resistance of the motor between two ter
minal pins.
Writing the correct value to this parameter:

In the case of MHD, MKD, MKE, automatically at initial com


missioning.

In the case of 2AD, ADF, linear and rotary kit motors, by load
ing the motor parameters with the commissioning software
(e.g. IndraWorks).

In the case of other motors, manual input according to manu


facturer's specification.

See also Functional Description "Motor, Mechanical Axis System, Measuring


Systems"
P-0-4048 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
Ohm
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
3
set switchable: +

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 961/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.15.61

min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax

Default value
0,000
0,000
0,000

P-0-4050, Answer delay RS-232/485


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The RS-485 interface (also in bus mode) works in the semi-duplex mode. The
same pair of lines is used for both directions.
The data direction must be changed during the data exchange. In order to give
the connected devices (PC or PLC) sufficient time for switching between send
ing and receiving on their side, the answer time of the drive can be set by means
of this parameter.
P-0-4050 defines the minimum time in ms that has to pass after the last char
acter of a telegram has been received via the serial interface, before the first
reaction character may be sent. To operate RS-232 this parameter is not re
quired.
The required answer delay depends on the master/PC that is used. In the con
dition as supplied the value for the answer delay is set to a value with which
most of the PCs can normally work without any problem.
When communication problems occur (e.g. "TIMEOUT" message
in the commissioning software), the value for the answer delay has
to be increased step by step until the problems do not occur any
longer. For reasons of safety the limit value established in this way
should be given a factor of 1.5 and be entered as the answer delay.
See also Functional Description "Serial Communication"

P-0-4050 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
--

Input
MPB:
MPD:
MPH:

4.15.62

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
StdOne / 200
StdOne / 200
StdOne / 200

Default value
1
1
1

P-0-4051, Positioning block acknowledgment


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Acknowledgment of the accepted positioning block


See also Functional Description "Positioning Block Mode"

P-0-4051 - Attributes

Function: Par
Memory: --

Editability:
Validity ch.:

nein
--

Data length:
Format:

2Byte
DEC_OV

962/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: AT
Input
MPB:
MPD:
MPH:

4.15.63

Extr. val. ch.: -Comb. check: --

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4052, Positioning block, last accepted


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Last accepted positioning block (retain data). In the case of sequential block
chains, this is the first block with which the sequential block chain was started.
See also Functional Description "Positioning Block Mode"

P-0-4052 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
RETAIN_KUNDEValidity ch.:
-Extr. val. ch.:
AT
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.64

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4053, Positioning block, last active


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Last accepted positioning block (retain data). For sequential block chains this
is the last active block of the sequential block chain. For individual blocks
P04052 and P04053 are always equal.
See also Functional Description "Positioning Block Mode"

P-0-4053 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
RETAIN_KUNDEValidity ch.:
-Extr. val. ch.:
AT
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.65

nein
----

Data length: 2Byte


Format:
DEC_MV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4054, C5400 Command Save PLC retain data on MMC


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

-
-
-
MPB

-
-
MPH
MPH

-
-
-
-

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 963/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

P-0-4054 - Attributes

By means of this command the PLC retain data are copied from the internal,
non-volatile memory (flash/memory on interface option "MD1") to the MultiMe
diaCard (MMC).
Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.15.66

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4055, C5500 Command Load PLC retain data from MMC


Allocation

Function

P-0-4055 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
-
-

By means of this command the PLC retain data are copied from the MultiMe
diaCard (MMC) to the internal, non-volatile memory (flash/memory on interface
option "MD1").
Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.15.67

-"open loop", "closed loop"

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4057, Positioning block, input linked blocks


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter P04057 is an image of the sequential block inputs.


See also Functional Description "Positioning Block Mode"

P-0-4057 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0
0
0

964/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.15.68

P-0-4058, Amplifier type data


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

In order to enable the determination of the amplifier work load, the physical
properties of the amplifier must be known to the firmware.
Characteristic data:

P-0-4058 - Attributes

thermal insulation data

continuous amplifier power

thermal capacities

Function:
Memory:
Unit:
Cycl. tra.:

Par
LT_SP
---

Input
MPB:
MPD:
MPH:

4.15.69

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 4Byte var.


Format:
DEC_MV
Decim. pl.:
4
set switchable: --

min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong

Default value
-------

P-0-4059, Electric type data of power section


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This list parameter contains electric type data that are describing the power
section.
The type data are individually determined for each power section
and are entered one time in the production process. The type data
are displayed via this parameter. Changes are not required and not
allowed (write-protected parameter)!

P-0-4059 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
LT_SP
---

Input
MPB:
MPD:
MPH:

4.15.70

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte var.


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4060, Positioning block control word


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 965/1033


and Controls

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
-closed loop

MPH

MPD

This parameter is used as control word for positioning block mode and has the
following structure:
Parameter structure:
Bit

Designation/function

Comment

acceptance of the positioning block selected in P04026 by


a 0 1 edge
(Is only relevant for parallel interface and field bus I/O
mode!)

0: traveling with the velocity of the current positioning block


1: limitation of the velocity to "S00259, Positioning velocity"
Bit 0 is only relevant in positioning block mode!

Fig.4-282:

P-0-4060, Positioning block control word

See also Functional Description "Positioning Block Mode"


P-0-4060 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
-AT + MDT

Input
MPB:
MPD:
MPH:

4.15.71

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
0/3
0/3
0/3

Default value
2
2
2

P-0-4061, Positioning block status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

The parameter contains the status bits that are only valid for the positioning
block mode. All other generally valid status bits for positioning are contained in
parameter "S00437, Positioning status word"!
See also Functional Description "Positioning Block Mode"

Use

The bits in P04061 have the following significance:

P-0-4061 - Attributes

Bit 4: Bit 4 "end position reached" is set when a positioning block was
completed. For sequential block chains the bit is set when the end of the
sequential block chain has been reached.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

966/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

4.15.72

P-0-4063, Positioning block deceleration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPB
MPB
MPB
-closed loop

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

In the operating mode "positioning block mode" this parameter is used to define
the positioning decelerations of the max. 64 positioning blocks individually and
in different form ( list parameter with 64 elements).
In conjunction with the corresponding jerk value entered in
P0-4009 the positioning deceleration entered in P04063 defines
the parameter content of "P00042, Current position command
average value filter order".
See also Functional Description "Positioning Block Mode"

Record of Modifications

P-0-4063 - Attributes

Version

Attribute

GEN-02VRS

Cycl. tra.: no

Function: Par
Editability:
Memory: PARAM_SP Validity ch.:

PM+OM
PM->OM

Unit:

S-0-0160

Cycl. tra.: AT + MDT


Input
MPB:
MPD:
MPH:

4.15.73

Comment

Extr. val. ch.:

Comb. check: --

Data length:
Format:

4Byte var.
DEC_MV
S-0-0161 /
Decim. pl.:
S-0-0162
set switchable: --

min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160

Default value
-------

P-0-4064, Password level


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter allows the user and the service staff reading the current pass
word protection. All passwords mentioned in the table are entered via S00267,
Password.
See also Functional Description "Using a Password"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 967/1033


and Controls

Product-Specific Parameters
Structure

Content
P-0-4064

Content
S-0-0267

Description

Parameters
acc. to
S00279

"007"

no password avail
able

W, R

W, R

"$$$"

customer pass
word available but
deactivated

W, R

W, R

" *** "

customer pass
word available and
activated

W, R

"$$$"

control password
entered

W, R

W, R

"Pass
word"

master password
entered

W, R

W, R

W, R

W
R

Administra Remain
tion param ing pa
eters
rame
ters

write access
read access

Fig.4-283:

Overview of password levels

"Administration parameters" are motor parameters (e.g. P03000),


device parameters (e.g. P01509,...), encoder parameters (e.g.
P01000,...), error memories (e.g. P00192,...), etc.
P-0-4064 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.15.74

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4065, Non-volatile memory active


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains information on the active, non-volatile memory. The


parameter values and, in the case of control voltage failure, the retain data are
stored in the active memory.
Meaning of the value:

1: MultiMediaCard (MMC) is the active, non-volatile memory

2: internal, non-volatile memory is active

See also Functional Description "Parameters, Basics"


P-0-4065 - Attributes

Function: Par
Editability:
Memory: ON_BOARD_SPValidity ch.:

nein
--

Data length:
Format:

2Byte
HEX

968/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Unit:
-Cycl. tra.: --

Extr. val. ch.: -Comb. check: --

Input
MPB:
MPD:
MPH:

4.15.75

Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

P-0-4066, MMC identification number (CID)


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is relevant for the manufacturer's identification of the MultiMe


diaCard that has been plugged.
This parameter is only used for service purposes and is irrelevant
for the application side!

P-0-4066 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
ON_BOARD_SPValidity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.15.76

nein
----

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4067, Project identification


Allocation

Function

P-0-4067 - Attributes

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter is used by IndraWorks in order to unequivocally identify the axis


within an IndraWorks project. The parameter should not be modified by the
user. In the case of multi-axis firmware, the parameter is available once per
axis.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 969/1033


and Controls

Product-Specific Parameters

4.16

P-0-4068 - P-0-4095 Field Bus and Serial Communication

4.16.1

P-0-4068, Field bus: control word IO


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The parameter "P-0-4068, Field bus: control word IO" is used as field bus con
trol word (16 bits) in the I/O mode. We distinguish the following two profile types
with freely expandable real-time data and configurable field bus status word:

"I/O mode positioning" (P-0-4084, Field bus: profile type = 0xFF82)

"I/O mode preset velocity" (P-0-4084, Field bus: profile type = 0xFF92)

See also Functional Description "Supported Profile Types"


Structure
Bit
0

As a bit list, P04068 has a profile-type-dependent structure:

Function with I/O mode positioning

Function with I/O mode preset velocity Comment


(as of MP*04VRS!)

drive enable (P-0-0116, bit 15)


0-> 1: drive enable
1-> 0: best possible deceleration according to P00119
(Note: Bit 14 of P00116 is automatically set as soon
as the field bus is active!)

Drive Halt (P-0-0116, bit 13)


0-> 1: drive start
1-> 0: Drive Halt, i.e. the drive is immediately shut down
(speed command value reset!)

going to zero (S-0-0148)

bit 4...2: run-up stop (P-0-1200)

0->1: start homing command "C6"

000: deactivated

1->0: complete homing command "C6"

xx1: always (unconditionally) active


x10: only if command value limitation
active
1x0: only if torque limitation active

strobe (P-0-4060, bit 0)


0->1: apply travel block

positioning with limited velocity (P-0-4060, bit 1)


1: limited velocity with "positioning velocity" (S00259)
as limit

clear error (S-0-0099)


0->1: start error clearing command "C5"
1->0: complete command "C5"

970/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit
13-6

Function with I/O mode positioning

Function with I/O mode preset velocity Comment


(as of MP*04VRS!)

bit 7,6: positioning/jogging (S-0-0346, bit 2...1)

bit 10...6: activation of a fixed com


00: positioning active, start at change of bit 0, position mand value (P-0-1200)
ing aborted by:
00000: command value S-0-0036 ac
tive
01: infinite travel in positive direction (jog+)

xxxx1: cmd value P-0-1206 element 1


active

10: infinite travel in negative direction (jog-)


11: stopping the axis (positioning stop)

xxx10: cmd value P-0-1206 element 2


active
xx100: cmd value P-0-1206 element 3
active
x1000: cmd value P-0-1206 element 4
active
10000: cmd value P-0-1206 element 5
active

bit 13...8: travel block select


"positioning block selection" (P-0-4026, bit 0..5)

bit 12...11: ramp inputs for motor po


tentiometer (P-0-1200)
00: command value is maintained
01: command value is increased
10: command value is reduced
11: command value is maintained
bit 13: inversion of velocity command
value (P-0-1200)

14

--

enabling of motor potentiometer


(P-0-1214)
0: disabled (S-0-0036 or fixed com
mand value active)
1: motor potentiometer is active

Fig.4-284:
Use

Structure of P-0-4068

The following has to be observed for usage:

The field bus control word P-0-4068 cannot be configured and has been
preconfigured with the required control bits for the IO mode.

P04068 doesn't allow phase switching via a bit, this is why in I/O mode
phase switching has to be done by starting the transition commands
(C0200, C0400) via the parameter channel.

When changing from parameter mode to operating mode, a check is run


to make sure that the control word is always listed once in "P04081, Field
bus: config. list of cyclic command value data ch.".
The content of this parameter is only relevant for profile type "I/O
mode" (P-0-4084 = 0xFF82 and 0xFF92).

P-0-4068 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 971/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.16.2

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-4069, Field bus: module diagnosis


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Parameter for reading master communication settings and states (with field
buses).
This parameter is only relevant for the development staff! It is irrel
evant for the application side!
See also Functional Description "PROFIBUS-DP"

P-0-4069 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
----

Input
MPB:
MPD:
MPH:

4.16.3

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte var.


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4070, Parameter storage configuration


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
-
-
MPB
MPH
-"open loop", "closed loop"

-
-
-
MPD

Via the parameter "P-0-4070, Parameter storage configuration", it is possible


to set the mode in which the MMC is operated.

972/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Structure

Bit

Significance

Comment

0x00: MMC as init/update medium:


The MMC can be used for initializing the installation and as an
update medium. Boot queries for the firmware (Firmware up
date) and parameters (Load Par from MMC). The active mem
ory always is the on-board flash (see P-0-4065 = 0x02).
0x01: Programming module mode:
All parameters and the firmware are stored on the MMC. If the
1/0 MMC is removed when the device was switched off, the error
message "F2120 MMC: defective or missing, replace" is gen
erated. It is impossible to operate the installation. If the MMC
is removed in operation, the error message "F2006 MMC was
removed" is generated.
0x10: Backup medium mode:
The MMC can be available as memory and access via PLC file
services, FTP or drive commands in possible. No control of the
MMC during the booting process or in operation.

Fig.4-285:

Parameter storage configuration

Any change in this parameter is stored, if possible, on the MMC and on the onboard flash so that it is possible to recognize that the MMC is removed/modified,
when the device has been switched off.
P-0-4070 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
Editability:
FIX_IDN_SP Validity ch.:
-Extr. val. ch.:
-Comb. check:

Input
MPB:
MPD:
MPH:

4.16.4

PM
--+

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0
0
0

P-0-4071, Field bus: length of cyclic command value data channel


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This parameter indicates the number of bytes of the process data channel par
ameterized in "P04081, Field bus: config. list of cyclic command value data
ch".
This length does not contain the length parameterized in "P04083, Field bus:
length of parameter channel" of a possibly available parameter channel. The
graduation takes place in word boundaries, i.e. possible values are 2, 4, 6, ...
32.
For communication via Interbus it is obligatory, due to the bus struc
ture (shift register), that P04071 = P04082.
See also Functional Description "PROFIBUS-DP"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 973/1033


and Controls

Product-Specific Parameters
P-0-4071 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Byte
--

Input
MPB:
MPD:
MPH:

4.16.5

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
0 / 32
0 / 32
0 / 32

Default value
2
2
2

P-0-4072, C2900 Command Firmware update from MMC


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

With this command, the firmware is copied from the MultiMediaCard plugged
in the controller to the controller and to possibly available firmware-carrying
additional components.
The command can be started via the control panel or via a commissioning tool
("IndraWorks D" or "SynTop"). After successful firmware update the message
"End C29" is displayed. The user now has to switch the drive off and on again
so that the new firmware becomes active.
If you make an attempt of phase progression without the drive hav
ing been rebooted, either a switching command error will occur or
a system error (F8xxx) entered before the firmware update will be
displayed.
See also Functional Description "MultiMediaCard (MMC)"

P-0-4072 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Input
MPB:
MPD:
MPH:

4.16.6

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
-------

P-0-4073, Field bus: diagnostic message


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This parameter contains the status of the field bus state machine in plain text.
The diagnostic messages depends on the field bus used and is according to
the designations used in the standard.
See also Functional Description "PROFIBUS"

Use

Significance of diagnostic message texts with PROFIBUS-DP

974/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Display texts for PROFIBUS master communication:
Text

Significance

"OFFLINE":

initialization value of the diagnostic message

"Power-On":

A PROFIBUS card has been recognized as master communication


and the hardware is checked.

"Baud-Search": The hardware is okay; the PROFIBUS is monitored in order to rec


ognize the baud rate used.
"Wait-Prm":

The baud rate has been found, the drive waits for a parameterization
telegram of the master that contains its IDN (contained in the device
data sheet).

"Wait-Cfg":

The IndraDrive device has received a valid parameterization tele


gram and now waits for the configuration telegram in which the
master tells the drive for which modules it is waiting for input/output
configuration.

"Data-Exch WD The drive received a valid configuration, it exchanges real-time data


+":
with the master and the communication is monitored by a watchdog.
"Data-Exch
WD-":

Fig.4-286:

The drive received a valid configuration, it exchanges real-time data


with the master without the communication being monitored by a
watchdog.

Plain text and significance of the entries in parameter P04073

The states "Data-Exch WD+" and "Data-Exch WD-" are additionally


signaled by H30 being lit!
Significance of diagnostic message texts with PROFInet
Display texts for PROFInet master communication (as of MP*04VRS):
Text

Significance

"LINK IS
DOWN":

no connection to remote station (switch)

"HALF-DU
PLEX":

half-duplex connection to remote station (switch)

"FULL DU
PLEX":

full-duplex connection to remote station (switch)

Fig.4-287:

Plain text and significance of the entries in parameter P04073

Significance of diagnostic message texts with Ethernet/IP


Display texts for Ethernet/IP master communication (as of MPH05V04):
Text

Significance

NO IP:

The IP address settings of the Engineering Port are invalid.

IP-Adress not configured


DUP IP:
IP-Adress conflicted
NO COM:

During the Duplicate IP Address Check, the IP address


which was set was detected to already exist in the network.

Since the last run-up, there hasn't any I/O connection been
no Communication after established yet.
BootUp

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 975/1033


and Controls

Product-Specific Parameters
RUN:

The I/O connection runs without error.

Data Exchange activ


IDLE:

The master (PLC) of the I/O connection is in the stop mode.

Master in Stop-Mode
CLOSED:
closed from Master
TIMEOUT:
Master-Slave timed out

Fig.4-288:

The I/O connection was terminated by a command of the


master (Forward Close).
The monitoring of the I/O connection between master and
slave was triggered, i.e. there hasn't been any master pack
age received in the drive for a too long time.

Plain text and significance of the entries in parameter P04073 with


Ethernet/IP

Significance of diagnostic message texts with DeviceNet


Display texts for DeviceNet master communication:
Text

Significance

"BAUD SEARCH":

automatic baud rate search active

"DEVICE_SELF_TEST automatic self test active


ING"
"OPERATIONAL"

operational, no connection to master

"POLLED IO"

operational and connection to master, real-time data are


processed

"POLLED IO IDLE"

operational and connection to master, real-time data are not


processed

"
recoverable error
RECOVERABLE_FAUL
T"
"
unrecoverable error
UNRECOVERABLE_FA
ULT"
"DUP_MAC_ERROR"

Duplicate MAC Check error

"RX_QUEUE_OVER
RUN"

overflow of Rx queue

"TX_QUEUE_OVER
RUN"

overflow of Tx queue

"IO_SEND_ERROR"

error when transmitting the cyclic data

"CAN_BUS_OFF"

CAN controller in status "BUS-OFF"

"CAN_OVERRUN"

overflow in CAN controller

"BUS_POWER_FAIL"

24V error

Fig.4-289:

Plain text and significance of the entries in parameter P04073 with


DeviceNet

Significance of diagnostic message texts with CANopen


Display texts for CANopen master communication:
Diagnostic message

Significance

CANopen: Offline

CANopen task is initialized.

976/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
CANopen: Auto Bau
drate Detection

Drive searches baud rate.

CANopen: Initialised

Initialization was run after switch-on or after a reset, a bootup telegram is to be transmitted.

CANopen: Initialised
CAN-Warning

In status "Initialised", too many errors were detected on CAN


bus, CAN interface is in status "Warning". This status mostly
means that boot-up telegram could not be transmitted. Pos
sible causes: Drive (currently) is only node at bus or there is
node with different baud rate at bus.

CANopen: Pre-Opera
tional

Boot-up telegram was transmitted, drive now is in status


"PreOperational". Parameters can be read and written by
means of SDO.

CANopen: Pre-Opera
tional CAN-Warning

In status "Pre-Operational", too many errors were detected


on CAN bus, CAN interface is in status "Warning".

CANopen: Operational

Drive exchanges cyclic data (see "List of Transmission


Types").

CANopen: Operational
(only producer)

By received heartbeat telegram, master detected that heart


beat transmitter does not send any PDO due to network
status.

CANopen: Operational
CAN-Warning

In status "Operational", too many errors were detected on


CAN bus, CAN interface is in status "Warning".

CANopen: Stopped

Drive is in status "Stopped". In this status, drive only receives


NMT commands. It is now possible to change basic com
munication parameters, such as baud rate or address.

CANopen: Stopped
CAN-Warning

In status "Stopped", too many errors were detected on CAN


bus, CAN interface is in status "Warning".

CANopen: BUS-OFF

CAN interface detected too many transmission errors and


received incorrect telegrams. Possible causes are, among
other things, disturbances on bus cable, short circuits, in
terruptions of bus cable or nodes with different baud rates
at bus.

CANopen: BUS-OFF
(RxCounter = 0)

CAN interface detected too many transmission errors. Most


likely there wasn't any telegram received or received tele
grams were not error-free.

Fig.4-290:
P-0-4073 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Overview of diagnostic messages for CANopen communication


Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.16.7

nein
----

Data length: 1Byte var.


Format:
ASCII
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4074, Field bus: data format


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 977/1033


and Controls

Product-Specific Parameters
Hardware
Funct. package(s):
Function

optional master communication card


"open loop", "closed loop"

Parameter "P04074, Field bus: data format" describes the arrangement of 32bit-values in the telegram (process data channel).

Fig.4-291:

Data format

See also Functional Description "PROFIBUS-DP"


P-0-4074 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.16.8

PM
PM->OM
+
--

min./max.
0/1
0/1
0/1

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0
0
0

P-0-4075, Field bus: watchdog


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

In this parameter the watchdog time transmitted by the master in the parame
terization telegram is stored in ms. If the master communication is interrupted
for more than this time, a communication error is generated.
See also Functional Description "PROFIBUS-DP"

P-0-4075 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-ms
--

Input
MPB:
MPD:
MPH:

4.16.9

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0
0
0

P-0-4076, Field bus: cycle time (Tcyc)


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

978/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Function

The content of P04076, Field bus: cycle time (Tcyc) defines the time intervals
in which the cyclic real-time data (command values and actual values) are pro
cessed in the field bus drive.
See also Functional Description "PROFIBUS-DP"

Use

The allowed input values in P04076 are depending on the position loop clock:

minimum field bus cycle time: Tposition

time intervals of the allowed inputs: Tposition

With the position loop clock in the different firmware variants:

CSH01.1C with MPH firmware: Tposition = 250s

CSB01.1x with MPB firmware: Tposition = 500s

CDB01.1C with MPD firmware: Tposition = 500s

The following input values are resulting for a basic control section, for example:
500 s, 1 ms, 2ms, to 65ms in steps of 500s
P-0-4076 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
us
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.16.10

PM
PM->OM
+
--

min./max.
500 / 65000
1000 / 65000
500 / 65000

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
2000
2000
2000

P-0-4077, Field bus: control word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This parameter is used as field bus control word for all BRC profiles such as
"freely configurable mode" (0xFFFE).
The significance and function of the control bits cannot be config
ured and is defined by the profile selection!
See also Functional Description "Supported Profile Types"

Structure

Bit

Designation/function

Comment

command value acceptance

not supported in
profile 0xFFFD
(see P-0-4084)

upon a change (S-0-0346, bit 0)


- a positioning block is activated or
- the command position is accepted
1

operating mode setting


0->1: change to operating mode
1->0: change to parameter mode

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 979/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

Comment

going to zero (S-0-0148)

not supported in
profile 0xFFFD
(see P-0-4084)

0->1: start homing command "C6"


1->0: complete homing command "C6"
3

absolute / relative (S-0-0346, bit 3) (only effective when


using "S-0-0282, Positioning command value")

not supported in
profile 0xFFFD
0: positioning command value (S-0-0282) is processed as (see P-0-4084)
absolute target position in the drive
1: positioning command value (S-0-0282) is processed as
relative travel distance in the drive

immediate block change (S-0-0346, bit 5) (only effective not supported in


when using "S-0-0282, Positioning command value")
profile 0xFFFD
0: positioning command value (S-0-0282) is only applied (see P-0-4084)
after the last active target position was reached

1: positioning command value (S-0-0282) is immediately


applied upon toggling of command value acceptance
5

clear error (S-0-0099)


0->1: start error clearing command "C5"
1->0: complete command "C5"

7/6

positioning / jogging (S-0-0346, bit 2 + S-0-0346, bit 1)


positioning activated by:
00: positioning active, start at change of bit 0
positioning aborted by:
01: infinite travel in positive direction (jog+)
10: infinite travel in negative direction (jog-)
11: stopping the axis (positioning stop)

9/8

command operating mode (for SERCOS: S00134,


bit 89)
00: primary mode of operation
01: secondary oper. mode 1 (e.g. jogging)
10: secondary oper. mode 2
11: secondary oper. mode 3

12

IPOSYNC
interpolator clock: (only in cycl. pos. control) toggles when
new command values transmitted

13

Drive Halt (P-0-0116, bit13)


0->1: drive start
1->0: Drive Halt, i.e. the drive is immediately shut down
(speed command value reset!)

not supported in
profile 0xFFFD
(see P-0-4084)

980/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

Comment

14

drive enable (P-0-0116, bit14)


Independent of P-0-4077, bit 14 of P-0-0116 is automat
ically set internally as soon as field bus communication is
active!

15

drive ON (P-0-0116, bit15)


0->1: drive enable
1->0: best possible deceleration according to P00119

Fig.4-292:

P-0-4077, Field bus: control word

The parameter mustn't be parameterized simultaneously with


"P04068, Field bus: control word IO" in "P04081, Field bus: con
fig. list of cyclic command value data ch.".
P-0-4077 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.16.11

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0
0
0

P-0-4078, Field bus: status word


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

In the case of field bus drives that are operated in the freely configurable profile
type (P04084 = 0xFFFE), the parameter "P04078, Field bus: status word"
is used as status word for feedback of the drive status to the field bus master.
The configuration of "P04078, Field bus: status word" cannot be
changed, i.e. the bit assignment is fixed and cannot be parameter
ized.
See also Functional Description "Supported Profile Types"

Structure

The individual bits of the parameter have the following significance:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 981/1033


and Controls

Product-Specific Parameters
Bit

Designation/function

Comment

1/0

operating mode acknowledgment

as of MP*04VRS,
separate parame
terization state ma
chine is introduced

10: operating mode


01: no longer relevant as of MP*04VRS
00: parameter mode
2

in reference (status of reference encoder)


(S-0-0403, bit 0) actual position value (encoder 1 or 2) is
0: relative
1: homed

in standstill (S-0-0331, bit 0)


1: actual velocity | < standstill window |S-0-0040| <
S-0-0124

command value reached for ...


... velocity control:1: command speed reached (S-0-0330,
bit 0)
... cyclic position control:1: in position (S-0-0336, bit 0)
... drive-internal interpolation:1: |(S-0-0258) (S-0-0051/53)| S-0-0057 (S-0-0437, bit 1)
... drive-controlled positioning:
1: |(S-0-0430) - (S-0-0051/53)| S-0-0057 and "in
position" (S-0-0336, bit 0) and "Nact = 0" (S-0-0331, bit 0);
(S-0-0437, bit 2)
... positioning block mode:
1: "end position reached" (P-0-4061, bit 4)
... other operating modes: 1: "target position
reached" (S-0-0342, bit 0)

command change bit


1: if command status has changed
0: if command status has not changed

operating mode error


1: error in transition command
0: no error in transition command

status of command value processing


1: drive does not follow command value input (e.g. when
Drive Halt is active)
0: drive follows command value input (e.g. "AF" active)

9/8

actual operating mode (P-0-0116, bit 8...9)


00: primary mode of operation
01: secondary oper. mode 1
10: secondary oper. mode 2
11: secondary oper. mode 3

982/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Bit

Designation/function

Comment

10

command value acknowledgment


By toggling the bit (S00419, bit 0) the drive acknowl
edges the acceptance of the "positioning command
value" (S-0-0282).

11

class 3 diagnostics message (cf. S-0-0013)


The bit is set if a class 3 diagnostics message is present.

12

class 2 diagnostics message (cf. S-0-0012)


The bit is set if a class 2 diagnostics warning is present.

13

class 1 diagnostics drive error (cf. S-0-0011)


The bit is set if a class 1 diagnostics error is present (drive
interlock).

15/14 ready for operation (P-0-0116, bit 14/15)


00: not ready for power on (e.g. "P2")
01: ready for power on ("bb")
10: control and power sections ready for operation ("Ab")
11: in operation, with torque (e.g. "AF")

Fig.4-293:
P-0-4078 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

P-0-4078, Field bus: status word


Par
--AT

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.16.12

nein
----

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0
0
0

P-0-4079, Field bus: baud rate


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Parameter P04079 contains the active baud rate of the field bus interface.
You have to distinguish the following cases:

PROFIBUS-DP and PROFInet: The baud rate used by the field bus is
automatically determined and only displayed in this parameter.

DeviceNet and CanOpen: The baud rate used by the field bus is set in
parameter P04079.
By inputting "0" as baud rate it is possible to activate automatic baud
rate detection. In some cases this however might not work correctly
so that it is recommended to make a manual input.

See also Functional Description "PROFIBUS-DP"


See also Functional Description "CANopen"

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 983/1033


and Controls

Product-Specific Parameters
See also Functional Description "DeviceNet"
P-0-4079 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
kBaud
--

Input
MPB:
MPD:
MPH:

4.16.13

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 4Byte


Format:
DEC_OV
Decim. pl.:
2
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0,00
0,00
0,00

P-0-4080, Field bus: config. list of cyclic actual value data ch.
Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

With this parameter the process input data channel (slave-master, i.e. "AT") is
configured independent of the field bus used.
See also Functional Description "PROFIBUS-DP"

Use

Only such operating data can be entered in parameter P04080 that are listed
in parameter "S00187, List of configurable data in the AT". Otherwise the
transition command error "C0156 Field bus: IDN for cycl. actual val. not con
figurable" is generated. The field-bus-specific configuration of the real-time data
channel for the direction slave-master is generated from parameter P04080.
By reading the field-bus-specific object or by reading P04080, the master can
get to know the position of the individual real-time data (parameters or objects)
at the field bus. Changes in parameter P04080 only take effect after the drive
has progressed to the operating mode.
In the case of "I/O mode with configurable real-time data" (0xFF82)
in "P04084, Field bus: profile type", the parameter "S00144, Sig
nal status word" during phase switch from phase 2 to 3 is always
set as status word at the first place in "P04080, Field bus: config.
list of cyclic actual value data ch". The parameter at this place is
overwritten.

P-0-4080 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.16.14

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4081, Field bus: config. list of cyclic command value data ch.
Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:

MPB
MPB
MPB
MPB

MPH
MPH
MPH
MPH

MPD
MPD
MPD
MPD

984/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Hardware
Funct. package(s):
Function

optional master communication card


"open loop", "closed loop"

With this parameter the process output data channel (master-slave, i.e. "MDT")
is configured independent of the field bus used.
See also Functional Description "PROFIBUS-DP"

Use

Only such operating data can be entered in parameter P04081 that are listed
in parameter "S00188, List of configurable data in the MDT". Otherwise the
transition command error "C0154 Field bus: IDN for cycl. command val. not
configurable" is generated. The field-bus-specific configuration of the real-time
data channel for the direction master-slave is generated from parameter
P04081. By reading the field-bus-specific object or by reading P0-4081, the
master can get to know the position of the individual real-time data (parameters
or objects) at the field bus. Changes in parameter P04081 only take effect
after the drive has progressed to the operating mode.
In the case of "I/O mode with configurable real-time data" (0xFF82)
in "P04084, Field bus: profile type", the parameter "P04068,
Field bus: control word IO" during phase switch from phase 2 to 3
is always set as status word at the first place in "P04081, Field
bus: config. list of cyclic command value data ch". The parameter
at this place is overwritten.

P-0-4081 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.16.15

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
PM->OM
---

min./max.
--- / ----- / ----- / ---

Data length: 2Byte var.


Format:
IDN
Decim. pl.:
0
set switchable: -Default value
-------

P-0-4082, Field bus: length of cyclic actual value data channel


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

This parameter indicates the number of bytes of the process data channel par
ameterized in "P04080, Field bus: config. list of cyclic actual value data ch.".
This length does not contain the length parameterized in "P04083, Field bus:
length of parameter channel" of a possibly available parameter channel. The
graduation takes place in word boundaries, i.e. possible values are 2, 4, 6, ...
32.
For communication via Interbus it is obligatory, due to the bus struc
ture (shift register), that P04071 = P04082.
See also Functional Description "PROFIBUS-DP"

P-0-4082 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Byte
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 985/1033


and Controls

Product-Specific Parameters
Input
MPB:
MPD:
MPH:

4.16.16

min./max.
0 / 32
0 / 32
0 / 32

Default value
2
2
2

P-0-4083, Field bus: length of parameter channel


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

Apart from the transmission of real-time data (also called process data), com
munication via a field bus also requires the transmission of parameters that are
not linked to a real-time cycle. In the case of PROFIBUS, for which not all control
units are supporting acyclic access, these data can be exchanged via a pa
rameter channel.
See also Functional Description "PROFIBUS-DP"

Use

The parameter channel is set by the corresponding selection of the I/O modules
in the configuration software of the PROFIBUS. The names of the parameter
channel modules are starting with "ParamCh" followed by the length in words,
e.g. "0 Words (Off)" or "5 Words". The length that was set is displayed in pa
rameter P04083 in bytes after the drive has reached the status "Data-Exch".
The modules "ParamCh 0 Words (Off)" and "ParamCh 5 Words"
are recommended. The parameter channel module must always be
at the first slot.

P-0-4083 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Byte
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.16.17

nein
----

min./max.
0 / 16
0 / 16
0 / 16

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
-------

P-0-4084, Field bus: profile type


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The setting of "P04084, Field bus: profile type" influences

the profile-dependent interpretation of the control and status words

the preselection of the primary mode of operation set in the drive

the configuration of the real-time data channel (unless freely configurable)

See also Functional Description "PROFIBUS-DP"


Use

The following settings are possible:


0xFF82: I/O mode "positioning" (with configurable real-time data)

986/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
0xFF92: I/O mode "preset velocity" (with configurable real-time data) (as of
MPx04)
0xFFFD: freely configurable mode "operating mode neutral" (ab MPx04)
0xFFFE: freely configurable mode (positioning command value)
Changes in parameter "P04084, Field bus: profile type" only take effect after
switching to the operating mode (phase 4)!
P-0-4084 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.16.18

PM
PM->OM
-+

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0xFF82
0xFF82
0xFF82

P-0-4085, Command Activate easy startup mode


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Up to MPX04VRS: C4700 Command Activate easy startup mode


This parameter is used for activating the easy startup mode via the serial in
terface. With the start of this command, the drive switches master communi
cation (SERCOS or PROFIBUS) off. The drive automatically switches to the
parameter mode, makes the parameter setting for the "easy startup mode" and
switches to the operating mode. The parameter setting is stored in volatile form.
The easy startup mode can only be deactivated by switching control voltage off
and on.

Record of Modifications

Version

Attribute

Comment

up to
MPx04VRS

MPx Default value: -MPx_Max Value: --

P-0-4085 - Attributes

up to
MPx04VRS

MPx_Default value: --

up to
MPx04VRS

Extr. val. ch.: no

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
-+
--

min./max.
0/3
0/3
0/3

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: -Default value
0
0
0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 987/1033


and Controls

Product-Specific Parameters

4.16.19

P-0-4086, Master communication status


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

This parameter contains important status information regarding the current sta
tus of master communication or device control. Independent thereof some
control information for handling the communication phase switch, as well as for
enabling the hardware inputs for drive enable and Drive Halt, is controlled.
Users cannot write this parameter, it is only used for diagnostic
purposes.
See also Functional Description "Initial Start in Easy Startup Mode"
See also Functional Description "Device Control and State Machine"
See also Functional Description "Master Communication"

Structure

Bit

Designation/function

Comment

communication phase switching


0: not allowed, i.e. executing the transition command
does not cause the communication phase to be switched
1: allowed, i.e. executing the transition command causes
the communication phase to be switched

phase progression after control voltage ON


0: no phase progression after control voltage ON
1: phase progression after control voltage ON

master communication synchronizes the drive


0: no
1: yes, master communication synchronizes the drive

easy startup mode active

(as of MP*03VRS!)

0: normal operation
1: easy startup mode active

Fig.4-294:
P-0-4086 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Master communication status


Par
--AT

Input
MPB:
MPD:
MPH:

4.16.20

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

nein
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4087, Baud rate SERCOS interface


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:

MPB
MPB
MPB

MPH
MPH
MPH

MPD
MPD
MPD

988/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Contained in 05VRS:
Hardware
Funct. package(s):
Function

MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"

The baud rate setting of the SERCOS interface is displayed in this parameter.
The drives automatically recognize the baud rate preset by the master and set
their baud rates accordingly.
See also Functional Description "PROFIBUS-DP"

P-0-4087 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Par
-Mbaud
--

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.16.21

P234
----

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
2
2
2

P-0-4088, Master communication, configuration


Allocation

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

-
-
-
-
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

-
-
MPD
MPD

Function

This parameter contains the configuration bits of master communication or de


vice control. This means that P-0-4088 is used to configure the functions and
the behavior of the master communication interface.

Structure

The parameter has the following structure:


Bit
0

Designation/function

Comment

target operating mode after run-up (booting)

as of
MPx05VRS

0: automatic run-up to OM (operating mode)


SERCOS: device control is switched with the communication
phase (S-0-0128 and S-0-0422 are internally linked)
Field bus/analog operation: device automatically runs up to
operating mode
1: device remains in PM (parameter mode)
SERCOS: switching of communication phase does not cause
device control to be switched
Field bus/analog operation: after run-up, device remains in pa
rameter mode

2, 1 reaction to failure of cyclic communication (bus failure, bus stop as of


and PLC stop)
MPx05V04
00: bus failure as error (F4xxx) and config. error reaction of
drive (cf. P-0-0119)
01: bus failure as warning (E4xxx) and last command value
input is retained
11: bus failure as warning with automatic switching to settingup mode (local mode)
10: reserved

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 989/1033


and Controls

Product-Specific Parameters
3

readiness for operation after switching on (only relevant for


SERCOS; for field buses always 1)

as of
MPx05V04

0: readiness for operation only possible with active master


communication master (remote operation)
1: readiness for operation also without active master commu
nication master after switching on (setting-up mode)
5

autom. I/O configuration for setting-up mode

MPx05

0: dig. inputs are autom. configured (memory of fixed command


values, drive enable)
1: no automatic configuration
7

selection of PLL algorithm for synchronous master communi MPx05V08


cation
0: hard-synchronous PLL control (default), (SERCOS II)
1: soft-synchronous PLL control (SERCOS III, CANopen)

PLL offset for CANopen

MPx05V10

0: PLL offset switched off (default)


1: PLL offset activated
15,1 input channel of master communication
MPH05V04
4 00: remote operation via master communication option (SER
COS, PROFIBUS, CANopen, parallel, ...)
01: analog operation (local mode) via analog or digital inputs
(X31, X32) or MLD (master communication interface inactive!)
10: remote operation via Engineering Port (only Ethernet/IP
with CSH01.2C available!)

Fig.4-295:
Use

P-0-4088, Master communication, configuration

Consider the following cases when configuring the bits:


Bit 2,1: With these bits it is possible to define how the drive behaves in case a
communication error occurs (bus failure, bus stop and PLC stop). You can
freeze the last valid command values received, which makes sense, for exam
ple, in process technology, or automatically change to a flexible local mode and
move the drive via digital/analog I/Os.
Bit 3: For the setting-up mode, automatic run-up to "bb" can also be achieved
for a SERCOS device by setting the bit and thereby the axis can be moved via
analog or digital inputs or MLD.
Bit 8: When an IndraDrive device has been set as Sync producer in the network,
the PLL can be offset via this bit in order to balance the telegram runtime of the
Sync telegram and thereby synchronize the Sync consumer and Sync producer
in a better way.
Bit 15, 14: Operation via the Engineering Port via Ethernet/IP is only allowed,
when there is no or possibly a parallel interface (HCC01) available which is
used as digital input/output extension.
Operating principle of bit 15/14

990/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters

Fig.4-296:
P-0-4088 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Operating principle of bit 15/14


Par
PARAM_SP
---

Input
MPB:
MPD:
MPH:

4.16.22

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
0
0
0

P-0-4090, Configuration for loading default values


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

The effects of the command "S00262, C07_x Load defaults procedure com
mand" depend on the configuration existing in P04090 at the command start.
See also Functional Description "Default Settings in the Motor Encoder Data
Memory (Load Defaults Procedure)"
See also Parameter Description "S-0-0262, C07_x Load defaults procedure
command"

Structure

The individual bits of the parameter have the following significance:

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 991/1033


and Controls

Product-Specific Parameters
Bit

3-0

Designation/

Basic parameter

function

load

command selection
0000: load defaults procedure

Load
def.
proc.
for
safety
tech
nology

Load
de
faults
proc.

MLD

Profile

C0720 C0700 C0730 C0750

C0750

0001: load basic parameters


0010: load MLD parameters
0100: load profile parameters
0101: load def. proc. for safety tech
nology
7...4

scaling of command execution

bit 4: master communication

1010:
0: Parameters of master comm. are set to Safety
tech
default values at command execution.
nology
1: Parameters of master comm. are main param
tained when loading basic parameters.
eters
are set
bit 5: IndraMotion MLD
to de
0: Parameters of MLD are set to default
fault
values at command execution.
values.
1: Parameters of MLD are maintained
when loading basic parameters.
bit 6: serial interface
0: Parameters of the serial interface are set
to default values when loading basic pa
rameters.
1: Parameters of serial interface are main
tained when loading basic parameters.

15..8

reserved

Fig.4-297:

Significance of the bits in P-0-4090

The command "load defaults procedure for safety technology" is a


special case, as for reasons of compatibility it requires the setting
0x00A5 in P-0-4090 to select the command!
Use

Based on the above structure, there are the following possible settings:

Value of
P-0-4090

Effect

Display

0x0000
(default)

load motor-specific control loop pa C07_0


rameter values

C07_0 Load defaults proce


C0700
dure com. (load controller par
am.)

0x0001

set all parameters to default values

C07_1 Load defaults proce


C0750
dure com. (load basic parame
ters)

C07_1

Name of diagnostic message

Diagnostic
message
number

Comment

992/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
Value of
P-0-4090

Effect

Display

0x0011

set all parameters to default values, C07_1


except for master communication
parameters

C07_1 Load defaults proce


C0750
dure com. (load basic parame
ters)

as of MP*04VRS

0x0021

set all parameters to default values, C07_1


except for PLC parameters

C07_1 Load defaults proce


C0750
dure com. (load basic parame
ters)

as of MP*04VRS

0x0031

set all parameters to default values, C07_1


except for PLC and master commu
nication parameters

C07_1 Load defaults proce


C0750
dure com. (load basic parame
ters)

as of MP*04VRS

0x0041

set all parameters to default values, C07_1


except for serial communication pa
rameters

C07_1 Load defaults proce


C0750
dure com. (load basic parame
ters)

as of MP*04VRS

0x0051

set all parameters to default values, C07_1


except for entire communication pa
rameters

C07_1 Load defaults proce


C0750
dure com. (load basic parame
ters)

as of MP*04VRS

0x0061

set all parameters to default values, C07_1


except for serial communication and
PLC parameters

C07_1 Load defaults proce


C0750
dure com. (load basic parame
ters)

as of MP*04VRS

0x0071

set all parameters to default values, C07_1


except for entire communication and
PLC parameters

C07_1 Load defaults proce


C0750
dure com. (load basic parame
ters)

as of MP*04VRS

0x0002

set entire drive PLC to default values C07_3


(RE6) incl. deletion of boot project

C07_3 Load def. proc. com.


(load defaults procedure for
PLC)

C0730

as of MP*04VRS

0x0004

set parameters depending on field


bus profile to default values

C07_1

C07_1 Load defaults proce


C0750
dure com. (load basic parame
ters)

as of MP*04VRS

0x00A5

deactivate safety technology and set C07_2


safety technology parameters to de
fault values

C07_2 Load def. proc. com.


C0720
(load def. pr. for safety techn.)

Fig.4-298:

Name of diagnostic message

Diagnostic
message
number

Comment

Values for P-0-4090

After the command "S00262, C07_x Load defaults procedure


command" has been completed, parameter P04090 is always re
set to its default value.
P-0-4090 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
--+

min./max.
--- / ----- / ----- / ---

Data length: 2Byte


Format:
HEX
Decim. pl.:
0
set switchable: -Default value
-------

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 993/1033


and Controls

Product-Specific Parameters

4.16.23

P-0-4091, C2500 Copy IDN from optional memory to internal memory


Allocation

Function
Use

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this command the parameter values are copied from the Multi
MediaCard (MMC) to the internal, non-volatile memory (flash).

Damage to the internal memory (flash) caused by too many write ac


cesses!
During the execution of this parameter command, data are written to the
internal memory (flash). As each flash only allows a limited number of write
accesses before its memory locations are destroyed, you should make sure
that such write accesses won't be carried out too often.

WARNING

If the "flash" is the active, non-volatile memory, the parameter val


ues from the MMC also become active in the drive after this com
mand, i.e. they are loaded to the internal, volatile memory.
This command can be executed ...

P-0-4091 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

... only in the parameter mode, when the internal flash is the
active, non-volatile memory.

... in the parameter and in the operating mode, when the MMC
is the active, non-volatile memory.

Cmd
----

Input
MPB:
MPD:
MPH:

4.16.24

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4092, C2600 Copy IDN from internal memory to optional memory


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this command the parameter values are copied from the internal,
non-volatile memory (flash) to the MultiMediaCard (MMC).

Use

If the MMC is the active, non-volatile memory, the parameter values


from the "flash" also become active in the drive after this command,
i.e. they are loaded to the internal, volatile memory.

994/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Product-Specific Parameters
This command can be executed ...

... only in the parameter mode, when the MMC is the active,
non-volatile memory.

... in the parameter mode and in the operating mode, when the
device-internal flash is the active, non-volatile memory.

Damage to the internal memory (flash) caused by too many write ac


cesses!
During the execution of this parameter command, data are written to the
internal memory (flash). As each flash only allows a limited number of write
accesses before its memory locations are destroyed, you should make sure
that such write accesses won't be carried out too often.

WARNING
P-0-4092 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:

Cmd
----

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

Input
MPB:
MPD:
MPH:

4.16.25

PM+OM
----

Data length: 2Byte


Format:
BIN
Decim. pl.:
0
set switchable: --

min./max.
--- / ----- / ----- / ---

Default value
-------

P-0-4095, RS-232/485 Parity


Allocation

Function

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Hardware
Funct. package(s):

MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"

MPD
MPD
MPD
MPD

By means of this parameter, it is possible to set several parities for communi


cation via the serial interface.
Parity

Setting in P04095

none

odd

even

Fig.4-299:

Coding of the parity in P-0-4095

The initial setting is no parity (default value).


See also Functional Description "Serial Communication"
P-0-4095 - Attributes

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPD:
MPH:

Par
PARAM_SP
---

Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:

PM+OM
PM->OM
+
--

min./max.
StdNul / 2
StdNul / 2
StdNul / 2

Data length: 2Byte


Format:
DEC_OV
Decim. pl.:
0
set switchable: -Default value
0
0
0

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 995/1033


and Controls

Appendix

Appendix

5.1

Field Bus Objects

5.1.1

CANopen Interface

Specified CANopen Communication Objects (0x1000 to 0x1FFF)


In Subindex/ Description
dex subnum
ber
100
0h

100
1h

00h

00h

Parameter

ParameterName = Device
Type

ObjectType
= 0x7

DefaultValue =
0x00FF0192

AccessType
= ro

ParameterName = Error
Register

ObjectType
= 0x7

DataType
= 0x7

0x00FF01
92

DataType
= 0x5

AccessType
= ro
101
8h

ParameterName = Identity ObjectType


Object
= 0x9

00h

ParameterName = Number AccessType


Of Entries
= ro

DataType
= 0x5

DefaultValue = 4
01h

ParameterName = Vendor AccessType


ID
= ro

DataType
= 0x7

36

DataType
= 0x7

DefaultValue = 0x24
02h

ParameterName = Product AccessType


Code
= ro
DefaultValue = 0x4

Fig.5-1:

03h

ParameterName = Revi
sion Number

AccessType
= ro

DataType
= 0x7

P-0-1509:
element 5
(release)

04h

ParameterName = Serial
Number

AccessType
= ro

DataType
= 0x7

P-0-1509:
element 3
(serial
number)

Specified CANopen objects

Other CANopen Communication Objects


For other CANopen communication objects, see EDS files.

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 997/1033


and Controls

Service and Support

Service and Support

6.1

Helpdesk
Our service helpdesk at our headquarters in Lohr, Germany, will assist you with
all kinds of inquiries.
Contact us:

By phone through the Service Call Entry Center,


Monday to Friday 7:00 am - 6:00 pm CET
+49 (0) 9352 40 50 60

By fax
+49 (0) 9352 40 49 41

6.2

By e-mail: service.svc@boschrexroth.de

Service Hotline
Out of helpdesk hours please contact our German service department directly:
+49 (0) 171 333 88 26
or
+49 (0) 172 660 04 06
Hotline numbers for other countries can be found in the addresses of each
region (see below).

6.3

Internet
Additional notes regarding service, maintenance and training, as well as the
current addresses of our sales and service offices can be found on
http://www.boschrexroth.com
Outwith Germany please contact our sales/service office in your area first.

6.4

Helpful Information
For quick and efficient help please have the following information ready:

Detailed description of the fault and the circumstances

Information on the type plate of the affected products, especially type co


des and serial numbers

Your phone and fax numbers as well as your e-mail address so we can
contact you in case of questions

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 999/1033


and Controls

Index

Index
315

Absolute encoder buffer 1 (motor encoder) 369


Absolute encoder buffer 2 (optional encoder) 370
Absolute encoder buffer 3 (measuring encoder)
370
Absolute encoder monitoring window for measuring
encoder 319
Absolute encoder monitoring window for motor en
coder 317
Absolute encoder monitoring window for opt. encod
er 318
Absolute encoder offset 1, encoder memory 592
Absolute encoder offset 2, encoder memory 594
Absolute encoder offset 3, encoder memory 597
Absolute encoder range of measuring encoder 421
Absolute encoder range of motor encoder 182
Absolute encoder range of optional encoder 182
Absolute offset 1 121
Absolute offset 2 122
Absolute voltage value, actual value 289
Acceleration data scaling exponent 113
Acceleration data scaling factor 113
Acceleration data scaling type 111
Acceleration factors for velocity masking window
617
Acceleration feedback value 1 114
Acceleration feedback value 2 130
Acceleration feedforward actual value 456
Acceleration feedforward gain 174
Acceleration feedforward smoothing time constant
371
Activation E-Stop function 255
Activation of control unit reaction on error 332
Active functional packages 827
Active position feedback value 184
Active safety technology signals 874
Actual acceleration torque/force value 454
Actual output current value (absolute value) 450
Actual pos. smoothing time constant for hybrid pos.
control 409
Actual position value, channel 2 905
Actual position value difference encoder1 - encod
er2 427
Actual position value offset of measuring encoder
310
Actual position value of measuring encoder 283
Actual process torque/force value 455
Actual value peak torque limit 452
Actual value torque limit negative (stationary) 451
Actual value torque limit positive (stationary) 451
Actual velocity value, channel 2 906
Actual velocity value of measuring encoder 421
Additive master axis position 284

Additive master axis position, positioning accelera


tion 526
Additive master axis position, positioning velocity
525
Additive master axis position, process loop 528
Additive position command value 44
Additive position command value, controller 287
Additive position command value, positioning accel
eration 525
Additive position command value, positioning veloc
ity 524
Additive position command value, process loop
527
Additive torque/force command value 58
Additive velocity command value 37
Additive velocity command value, process loop
526
Adjust values analog I/O interface 3-4 925
Adjust values analog I/O interface 5-6 925
Adjust values analog inputs interface 3-6 926
Adjust values of control section 923
Adjust values of power section 924
Allocation 11
Allocation of real-time control bit 1 159
Allocation of real-time control bit 2 160
Allocation of real-time status bit 1 161
Allocation of real-time status bit 2 161
Amplifier nominal current 81
Amplifier peak current 80
Amplifier temperature 184
Amplifier temperature 2 565
Amplifier type data 964
Amplitude for angle acquisition 471
Analog input, assignment A, dead zone 392
Analog input, assignment A, scaling per 10V full
scale 391
Analog input, assignment A, signal value at 0V 391
Analog input, assignment A, target parameter 390
Analog input, assignment B, dead zone 408
Analog input, assignment B, scaling per 10V full
scale 407
Analog input, assignment B, signal value at 0V 408
Analog input, assignment B, target parameter 407
Analog input, control parameter 393
Analog input, list of assignable parameters 390
Analog input, maximum value for adjust 395
Analog input 1 389
Analog input 1, time constant input filter 392
Analog input 2 389
Analog input 2, time constant input filter 402
Analog input 3 401
Analog input 3, time constant input filter 403
Analog input 4 402
Analog input 4, time constant input filter 404
Analog input 5 387

1000/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
Analog input 5, time constant input filter 405
Analog input 6 388
Analog input 6, time constant input filter 406
Analog output, assignment A, scaling [1/V] 443
Analog output, assignment A, signal selection 443
Analog output, assignment A, signal value at 0V
442
Analog output, assignment B, scaling [1/V] 444
Analog output, assignment B, signal selection 444
Analog output, assignment B, signal value at 0V
442
Analog output 1 346
Analog output 2 346
Analog Output 3 440
Analog Output 4 440
Analog Output 5 441
Analog Output 6 441
Analog output IDN list of assignable parameters
445
Angle offset begin of profile 288
Angle offset begin of profile, process loop 529
Angle offset change rate 358
Answer delay RS-232/485 961
Application for autom. controller adjust 360
Application type 98
Assign list signal control word 165
Assign list signal status word 164
Assignment IDN -> parallel output 1 523
Assignment measuring encoder ->optional slot 301
Assignment motor encoder->optional slot 298
Assignment optional encoder ->optional slot 300
Assignment parallel input 1 -> IDN 523
AT Transmission starting time (T1) 18
Attributes 11
Average value filter for display: signal selection
429
Average value filter for display: signal selection list
430
Average value filter for display: time constant 431
Axis correction, correction table negative 439
Axis correction, correction table positive 438
Axis correction active correction value 433
Axis correction actual temperature pos.-dependent
434
Axis correction actual temperature pos.-independ
ent 435
Axis correction control word 439
Axis correction end position 437
Axis correction external correction value 432
Axis correction reference position for temp. corr.
434
Axis correction reference temperature 433
Axis correction start position 436
Axis correction support point distance 437
Axis correction temperature factor pos.-dependent
435
Axis correction temperature factor pos.-independ
ent 436

Backup of safety techn. data channel 2 866


Baud rate RS-232/485 942
Baud rate SERCOS interface 987
Best possible deceleration 334
Bipolar acceleration limit value 95
Bipolar torque/force limit value 66
Bipolar velocity limit value 66
Bit number allocation of real-time control bit 1 198
Bit number allocation of real-time control bit 2 199
Bit number allocation of real-time status bit 1 199
Bit number allocation of real-time status bit 2 200
Brake voltage, encoder memory 851
Braking resistor load 567
Braking resistor threshold 566
Build date and time 379

C0100 Communication phase 3 transition check 89


C0200 Exit parameterization level procedure com
mand 202
C0300 Command Set absolute measuring 257
C0400 Activate parameterization level 1 procedure
command 202
C0400 Communication phase 2 transition 944
C0500 Reset class 1 diagnostics 71
C0600 Drive-controlled homing procedure com
mand 103
C07_x Load defaults procedure command 142
C0900 Position spindle command 106
C1200 Commutation offset setting command 483
C1300 Positive stop drive procedure command
104
C1400 Command Get marker position 258
C1500 Cancel reference point procedure com
mand 128
C1600 Parking axis command 96
C1700 Command measuring wheel mode 409
C1800 Command Drive optimization / command val
ue box 359
C2000 Command Release motor holding brake
495
C2100 Brake check command 494
C2200 Backup working memory procedure com
mand 144
C2300 Load working memory procedure command
143
C2400 Selectively backup working memory proce
dure command 157
C2500 Copy IDN from optional memory to internal
memory 993
C2600 Copy IDN from internal memory to optional
memory 993
C2800 Analog input adjust command 396
C2900 Command Firmware update from MMC 973
C3000 Synchronize and store safety technology IDN
command 863

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1001/1033


and Controls

Index
C3100 Recalculate actual value cycle 290
C3200 Command Calculate motor data 950
C3300 Set coordinate system procedure command
131
C3400 Shift coordinate system procedure com
mand 131
C3500 Command Determine encoder correction val
ues 421
C3600 Command Motor data identification 505
C3700 Manually unlocking the safety door 876
C3800 Command Apply motor holding brake 495
C3900 Command Abrasion of brake 496
C4000 Homing procedure command channel 2
882
C4100 Switch parameter set command 136
C4200 Drive-controlled oscillation command 128
C4300 NC-controlled homing procedure command
100
C4400 Calculate displacement procedure com
mand 117
C4500 Displacement to referenced system proce
dure command 118
C4600 Command Calculate motor control parame
ters 505
C4900 PLC command 694
C5200 Communication phase 4 transition check 90
C5400 Command Save PLC retain data on MMC
962
C5500 Command Load PLC retain data from MMC
963
C5600 Command subsequent optimization of com
mutation offset 478
C5800 Command Apply redundant holding brake
917
C5900 Command Abrasion of redundant holding
brake 918
C6100 Command Activate IP settings 713
Cam shaft distance 316
Cam shaft distance 2 292
Cam shaft distance switch angle 348
Cam shaft profile, access angle 401
Cam shaft profile 1 291
Cam shaft profile 2 316
Cam shaft profile 3 558
Cam shaft profile 4 559
Cam shaft profile 5 559
Cam shaft profile 6 560
Cam shaft profile 7 561
Cam shaft profile 8 561
Cam shaft switch angle 317
CANopen: COB-IDs 921
CANopen: Heartbeat/NodeGuard Configuration
920
CANopen: List of the Event Parameters 922
CANopen: Transmission Types 922
CC: basic parameters 824
CC: connection #1 824
CC: connection #2 825

CC: connection #3 825


CC: connection #4 826
CCD: active actual position value, master 760
CCD: active actual position value, slave 1 760
CCD: active actual position value, slave 2 761
CCD: active actual position value, slave 3 761
CCD: active actual position value, slave 4 762
CCD: active actual position value, slave 5 762
CCD: active actual position value, slave 6 763
CCD: active actual position value, slave 7 763
CCD: active actual position value, slave 8 763
CCD: active actual position value, slave 9 764
CCD: actual communication phase 723
CCD: actual topology 720
CCD: actual torque/force value, master 768
CCD: actual torque/force value, slave 1 769
CCD: actual torque/force value, slave 2 769
CCD: actual torque/force value, slave 3 770
CCD: actual torque/force value, slave 4 770
CCD: actual torque/force value, slave 5 770
CCD: actual torque/force value, slave 6 771
CCD: actual torque/force value, slave 7 771
CCD: actual torque/force value, slave 8 772
CCD: actual torque/force value, slave 9 772
CCD: actual velocity value, master 764
CCD: actual velocity value, slave 1 765
CCD: actual velocity value, slave 2 765
CCD: actual velocity value, slave 3 766
CCD: actual velocity value, slave 4 766
CCD: actual velocity value, slave 5 766
CCD: actual velocity value, slave 6 767
CCD: actual velocity value, slave 7 767
CCD: actual velocity value, slave 8 768
CCD: actual velocity value, slave 9 768
CCD: addresses of projected drives 719
CCD: addresses of projected I/Os 721
CCD: allowed telegram failures 745
CCD: assignment list signal control word 727
CCD: assignment list signal status word 726
CCD: AT error counter 741
CCD: AT real-time container 1, master 801
CCD: AT real-time container 1, slave 1 802
CCD: AT real-time container 1, slave 2 802
CCD: AT real-time container 1, slave 3 803
CCD: AT real-time container 1, slave 4 803
CCD: AT real-time container 1, slave 5 804
CCD: AT real-time container 1, slave 6 804
CCD: AT real-time container 1, slave 7 804
CCD: AT real-time container 1, slave 8 805
CCD: AT real-time container 1, slave 9 805
CCD: AT real-time container 2, master 806
CCD: AT real-time container 2, slave 1 806
CCD: AT real-time container 2, slave 2 807
CCD: AT real-time container 2, slave 3 807
CCD: AT real-time container 2, slave 4 807
CCD: AT real-time container 2, slave 5 808
CCD: AT real-time container 2, slave 6 808
CCD: AT real-time container 2, slave 7 809

1002/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
CCD: AT real-time container 2, slave 8 809
CCD: AT real-time container 2, slave 9 809
CCD: AT real-time container 3, master 810
CCD: AT real-time container 3, slave 1 810
CCD: AT real-time container 3, slave 2 811
CCD: AT real-time container 3, slave 3 811
CCD: AT real-time container 3, slave 4 812
CCD: AT real-time container 3, slave 5 812
CCD: AT real-time container 3, slave 6 812
CCD: AT real-time container 3, slave 7 813
CCD: AT real-time container 3, slave 8 813
CCD: AT real-time container 3, slave 9 814
CCD: AT real-time container 4, master 814
CCD: AT real-time container 4, slave 1 814
CCD: AT real-time container 4, slave 2 815
CCD: AT real-time container 4, slave 3 815
CCD: AT real-time container 4, slave 4 816
CCD: AT real-time container 4, slave 5 816
CCD: AT real-time container 4, slave 6 817
CCD: AT real-time container 4, slave 7 817
CCD: AT real-time container 4, slave 8 817
CCD: AT real-time container 4, slave 9 818
CCD: axis error 723
CCD: CC basic parameters 750
CCD: CC connection #1 750
CCD: CC connection #2 751
CCD: CC connection #3 751
CCD: CC connection #4 751
CCD: command adjust slave addresses 743
CCD: command communication phase 722
CCD: command topology 743
CCD: configuration 716
CCD: configuration compact I/Os 738
CCD: configuration list act. master values I/Os 737
CCD: configuration list actual master values 733
CCD: configuration list actual slave values 735
CCD: configuration list master cmd values 732
CCD: configuration list master cmd values I/Os 737
CCD: configuration list master communication ac
tual values 730
CCD: configuration list master communication cmd
values 729
CCD: configuration list signal control word 726
CCD: configuration list signal status word 725
CCD: configuration list slave cmd values 734
CCD: control word compact I/Os 752
CCD: cycle time 725
CCD: diagnosis 739
CCD: diagnostic message number slave 1 772
CCD: diagnostic message number slave 2 773
CCD: diagnostic message number slave 3 773
CCD: diagnostic message number slave 4 774
CCD: diagnostic message number slave 5 774
CCD: diagnostic message number slave 6 775
CCD: diagnostic message number slave 7 775
CCD: diagnostic message number slave 8 775
CCD: diagnostic message number slave 9 776
CCD: drive status word, slave 1 757

CCD: drive status word, slave 2 757


CCD: drive status word, slave 3 758
CCD: drive status word, slave 4 758
CCD: drive status word, slave 5 758
CCD: drive status word, slave 6 759
CCD: drive status word, slave 7 759
CCD: drive status word, slave 8 759
CCD: drive status word, slave 9 760
CCD: error counter Port-1 744
CCD: error counter Port-2 745
CCD: extrapolated cmd value IDN list signal selec
tion 727
CCD: extrapolated cmd value signal selection 728
CCD: extrapolated command value 729
CCD: gateway address 747
CCD: IP address 746
CCD: MAC address 746
CCD: master control word, slave 1 752
CCD: master control word, slave 2 753
CCD: master control word, slave 3 753
CCD: master control word, slave 4 754
CCD: master control word, slave 5 754
CCD: master control word, slave 6 755
CCD: master control word, slave 7 755
CCD: master control word, slave 8 755
CCD: master control word, slave 9 756
CCD: MDT real-time container 1, master 785
CCD: MDT real-time container 1, slave 1 785
CCD: MDT real-time container 1, slave 2 786
CCD: MDT real-time container 1, slave 3 786
CCD: MDT real-time container 1, slave 4 786
CCD: MDT real-time container 1, slave 5 787
CCD: MDT real-time container 1, slave 6 787
CCD: MDT real-time container 1, slave 7 788
CCD: MDT real-time container 1, slave 8 788
CCD: MDT real-time container 1, slave 9 788
CCD: MDT real-time container 2, master 789
CCD: MDT real-time container 2, slave 1 789
CCD: MDT real-time container 2, slave 2 790
CCD: MDT real-time container 2, slave 3 790
CCD: MDT real-time container 2, slave 4 791
CCD: MDT real-time container 2, slave 5 791
CCD: MDT real-time container 2, slave 6 791
CCD: MDT real-time container 2, slave 7 792
CCD: MDT real-time container 2, slave 8 792
CCD: MDT real-time container 2, slave 9 793
CCD: MDT real-time container 3, master 793
CCD: MDT real-time container 3, slave 1 793
CCD: MDT real-time container 3, slave 2 794
CCD: MDT real-time container 3, slave 3 794
CCD: MDT real-time container 3, slave 4 795
CCD: MDT real-time container 3, slave 5 795
CCD: MDT real-time container 3, slave 6 796
CCD: MDT real-time container 3, slave 7 796
CCD: MDT real-time container 3, slave 8 796
CCD: MDT real-time container 3, slave 9 797
CCD: MDT real-time container 4, master 797
CCD: MDT real-time container 4, slave 1 798

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1003/1033


and Controls

Index
CCD: MDT real-time container 4, slave 2 798
CCD: MDT real-time container 4, slave 3 799
CCD: MDT real-time container 4, slave 4 799
CCD: MDT real-time container 4, slave 5 799
CCD: MDT real-time container 4, slave 6 800
CCD: MDT real-time container 4, slave 7 800
CCD: MDT real-time container 4, slave 8 801
CCD: MDT real-time container 4, slave 9 801
CCD: network mask 747
CCD: number of extrapolation steps 728
CCD: signal control word, master 780
CCD: signal control word, slave 1 781
CCD: signal control word, slave 2 781
CCD: signal control word, slave 3 782
CCD: signal control word, slave 4 782
CCD: signal control word, slave 5 783
CCD: signal control word, slave 6 783
CCD: signal control word, slave 7 783
CCD: signal control word, slave 8 784
CCD: signal control word, slave 9 784
CCD: signal status word, master 776
CCD: signal status word, slave 1 777
CCD: signal status word, slave 2 777
CCD: signal status word, slave 3 778
CCD: signal status word, slave 4 778
CCD: signal status word, slave 5 778
CCD: signal status word, slave 6 779
CCD: signal status word, slave 7 779
CCD: signal status word, slave 8 780
CCD: signal status word, slave 9 780
CCD: status IP communication 748
CCD: status word 724
CCD: status word compact I/Os 756
CCD: status word synchronous operating modes,
master 818
CCD: status word synchronous operating modes,
slave 1 819
CCD: status word synchronous operating modes,
slave 2 819
CCD: status word synchronous operating modes,
slave 3 820
CCD: status word synchronous operating modes,
slave 4 820
CCD: status word synchronous operating modes,
slave 5 820
CCD: status word synchronous operating modes,
slave 6 821
CCD: status word synchronous operating modes,
slave 7 821
CCD: status word synchronous operating modes,
slave 8 822
CCD: status word synchronous operating modes,
slave 9 822
CCD: system data 2 bytes 742
CCD: system data 4 bytes 742
CCD: timing settings 720
Change counter of safety technology memory 862

Change history time interval of forced dynamiza


tion 323
Charact. of quadrature-axis induct. of motor, induc
tances 929
Charact. of quadrature-axis inductance of motor,
currents 930
Charact. quadr.-axis induct. of motor, currents, enc.
Memory 849
Charact. quadr.-axis induct. of motor, induct., enc.
Memory 848
Characteristic of motor magnetizing inductance
957
Characteristic of motor magnetizing inductance, en
coder mem. 856
Checksum of backup operation data 226
Circuit board code control section 706
Circuit board code master communication 704
Circuit board code of optional module 4 707
Circuit board code optional module 1 702
Circuit board code optional module 1 for safety tech
nology 708
Circuit board code optional module 2 703
Circuit board code optional module 2 for safety tech
nology 708
Circuit board code optional module 3 704
Circuit board code power section 705
Class 1 diagnostics 20
Class 2 diagnostics 22
Class 3 diagnostics 23
Coarse position window 142
Cogging torque compensation adaption factor 606
Combination check 13
Command Activate easy startup mode 986
Command Set absolute measuring 208
Command value cycle 543
Command value generator, amplitude 610
Command value generator, control word 608
Command value generator, duration 1 610
Command value generator, duration 2 610
Command value generator, list of possible target
parameters 607
Command value generator, offset 609
Command value generator, periodic time 611
Command value generator, target parameter as
signment 607
Command value generator output 607
Command value mode 186
Command value proceeding time (TMTSG) 65
Command values for control section adjust 923
Command values for power section adjust 924
Command value valid time (T3) 19
Commutation: required harmonics component 477
Commutation offset 473
Commutation offset, encoder memory 844
Commutation setting measured value 482
Config. list of the master data telegram 29
Configuration for loading default values 990
Configuration for starting lockout selector 321

1004/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
Configuration list of AT 27
Configuration list signal control word 31
Configuration list signal status word 30
Configuration motor data identification 518
Configuration of global safety technology functions
889
Configuration of safety related motion 1 890
Configuration of safety related motion 2 895
Configuration of safety related motion 3 899
Configuration of safety related motion 4 902
Configuration word synchronous operating modes
307
Config word of axis controller 501
Controller type 97
Control parameter of analog output 445
Control section gateway address 713
Control section IP address 712
Control section MAC address 711
Control section network mask 712
Control section status IP communication 714
Control section type 711
Control word 1 velocity control 611
Control word 2 velocity control 621
Control word easy startup 336
Control word for commutation setting 480
Control word for encoder correction 422
Control word for setting absolute measuring
208, 519
Control word for synchronous operation modes
310
Control word of axis controller 224
Control word of current controller 276
Control word of encoder 2 (optional encoder) 372
Control word of master axis generator 585
Control word of measuring encoder 420
Control word of position controller 447
Converter configuration 569
Cooling type 522
Coordinate offset value 148
Correction value table for encoder correction 423
Current actual slip value in % 410
Current coordinate offset 152
Current for deceleration, absolute value 510
Current for deceleration, time period 511
Current limit value of demagnetization 936
Current limit value of demagnetization, encoder
memory 851
Current load torque 499
Current loop integral action time 1 78
Current loop integral-action time 1, encoder memo
ry 834
Current loop proportional gain 1 76
Current loop proportional gain 1, encoder memory
833
Current mains voltage crest value 562
Current parameter set 139
Current position command average value filter or
der 274

Current torque value of the motor holding brake


500
Cyclically transmittable 12

Damping factor for autom. controller adjust 360


Data container A: addressing 179
Data container A: command value 1 177
Data container A: command value 2 209
Data container A: command value 3 210
Data container A: command value 4 210
Data container A: command value 5 211
Data container A: command value 6 211
Data container A: command value 7 212
Data container A: command value 8 212
Data container A: configuration list command val
ue-1 179
Data container A: configuration list command value
2 216
Data container A: configuration list command value
3 217
Data container A: configuration list command value
4 217
Data container A: configuration list command value
5 218
Data container A: configuration list command value
6 219
Data container A: configuration list command value
7 219
Data container A: configuration list command value
8 220
Data container A: configuration list feedback val
ue-1 180
Data container A: configuration list feedback value
2 220
Data container A: configuration list feedback value
3 221
Data container A: configuration list feedback value
4 221
Data container A: configuration list feedback value
5 222
Data container A: configuration list feedback value
6 223
Data container A: configuration list feedback value
7 223
Data container A: configuration list feedback value
8 224
Data container A: feedback value 1 178
Data container A: feedback value 2 213
Data container A: feedback value 3 213
Data container A: feedback value 4 214
Data container A: feedback value 5 214
Data container A: feedback value 6 215
Data container A: feedback value 7 215
Data container A: feedback value 8 216
Data container A: list index command values 177
Data container A: list index feedback values 178

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1005/1033


and Controls

Index
Data length 11
Data of external braking resistor 567
Data of internal braking resistor 568
DC bus power 183
DC bus voltage 183
Deceleration ramp 1 619
Deceleration ramp 2 620
Decimal place 12
Default value 13
Delay time motor holding brake 915
Device control: control word 331
Device control: status word 328
Device control word 946
Diagnostic message 68
Diagnostic message number 185
Diagnostic report SCSB module 947
Diagnostic safety technology message 877
Difference probe values 1 383
Difference probe values 2 384
Digital I/Os, assignment list 411
Digital I/Os, bit numbers 413
Digital I/Os, direction 413
Digital I/Os, outputs 416
Digital I/Os, status display 414
Direct-axis inductance of motor 939
Direct-axis inductance of motor, encoder memory
847
Display text of diagnostic message 254
Distance-coded reference offset A 114
Distance-coded reference offset B 115
Document structure 11
Drive address of master communication 248, 944
Drive address of serial interface 943
Drive Halt acceleration bipolar 181
Drive off delay time 134
Drive Off delay time, encoder memory 837
Drive on delay time 133
Drive On delay time, encoder memory 837
Drive optimization, acceleration 367
Drive optimization, control word 361
Drive optimization, dwell time 368
Drive optimization, end position negative 364
Drive optimization, end position positive 365
Drive optimization, travel distance 366
Drive optimization, velocity 368
Drive status word 94
Dummy parameter 15
Duration of dynamization pulse of safety function
selection 880
Dynamic angle offset 306

Editability 11
Effective commutation offset 479
Effective master axis position 555
Effective master axis velocity 555
Effective peak current 959

Effective target position 205


Effective torque/force command value 281
Effective velocity command value 281
Electric type data of power section 964
Encoder 1, cosine signal 423
Encoder 1, sine signal 424
Encoder 1 resolution, encoder memory 591
Encoder 2, cosine signal 425
Encoder 2, sine signal 425
Encoder 2 resolution, encoder memory 594
Encoder 3, cosine signal 426
Encoder 3, sine signal 426
Encoder 3 resolution, encoder memory 597
Encoder emulation control parameter 577
Encoder emulation resolution 578
Encoder emulation signal selection 576
Encoder emulation signal selection list 574
Encoder emulation zero pulse distance 580
Encoder emulation zero pulse offset 580
Encoder memory, mechanical operating data, mo
tor 859
Encoder memory, operating hours counter, motor
857
Encoder memory, thermal operating data, motor
858
Encoder resolution of measuring encoder 417
Encoder type 1 (motor encoder) 293
Encoder type 1 (motor encoder), encoder memory
841
Encoder type 2 (optional encoder) 295
Encoder type 3 (measuring encoder) 297
Encoder validation error threshold factor 479
Encoder validation lower monitoring threshold 521
Encoder validation monitoring signal 520
Encoder validation upper monitoring threshold 521
End position probe function 1 active 386
End position probe function 2 active 383
Energy counter 566
Error memory of diagnostic numbers 376
Error memory operating hours of control section
377
Error memory power section 378
Error number 256
E-Stop input 397
Excessive position command value 256
Extended safety technology status 889
Extreme value check 12

Feedback 1 Resolution 84
Feedback 2 Resolution 85
Feedback acquisition starting time (T4) 18
Feed constant 87
Feed constant 2 (optional encoder) 339
Feedrate override 79
Feed travel internal virtual master axis 586
Field bus: baud rate 982

1006/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
Field bus: config. list of cyclic actual value data ch.
983
Field bus: config. list of cyclic command value data
ch. 983
Field bus: control word 978
Field bus: control word IO 969
Field bus: cycle time (Tcyc) 977
Field bus: data format 976
Field bus: diagnostic message 973
Field bus: length of cyclic actual value data chan
nel 984
Field bus: length of cyclic command value data
channel 972
Field bus: length of parameter channel 985
Field bus: module diagnosis 971
Field bus: profile type 985
Field bus: status word 980
Field bus: watchdog 977
Filter time constant, add. master axis pos., process
loop 528
Filter time constant, angle offset profile, process
loop 530
Filter time constant additional pos. Command 287
Final speed ramp 1 614
Firmware variants 13
Flux-generating current, actual value 275
Flux-generating current, command value 272
Flux-generating current, limit value 932
Flux-generating current, limit value, encoder mem
ory 847
Flux-generating voltage, actual value 289
Flux loop proportional gain 485
Flux loop proportional gain, encoder memory 851
FOCsl: carrier signal configuration 928
FOCsl: configuration word 928
FOCsl: control deviation 927
FOCsl: correction angle 926
FOCsl: encoder angle 927
FOCsl: estimated angle 926
FOCsl: motor model configuration 928
Following distance 127
Format 12
Friction compensation 109
Function 11
Function, structure, use 11
FXC: Current loop integral action time 517
FXC: Current loop proportional gain 516
FXC: Frequency loop proportional gain 515
FXC: Frequency loop scaling factor of inertia 515
FXC: Rated slip frequency 518
FXC: Slip frequency filter time constant 517
FXC: Total flux loop integral action time 515
FXC: Total flux loop proportional gain 514

Gear 2 encoder-side (optional encoder) 340


Gear 2 load-side (optional encoder) 339
Gear ratio fine adjust 305
Gear ratio fine adjust, process loop 529
Gear reduction 544

Gear 1 encoder-side (motor encoder) 338


Gear 1 motor-side (motor encoder) 337

Holding brake control word 483


Holding brake control word, encoder memory 845
Holding brake current, encoder memory 846
Holding brake status word 493
Home switch 189
Home switch offset 159
Homing acceleration 39
Homing enable 193
Homing parameter 101
Homing velocity 39

I/O status channel 2 (optional safety technology


module) 875
IDN groups: control word 428
IDN groups: list 428
IDN list cyclic parameter display 944
IDN-list of all operation data 27
IDN-list of all procedure commands 30
IDN-list of backup operation data 129
IDN list of checksum parameter 164
IDN list of configurable data in signal status word
188
IDN list of configurable data in the signal control
word 188
IDN-list of invalid op. data for parameterization lev
el 203
IDN list of invalid operating data for communication
phase 2 28
IDN list of invalid operating data for communication
phase 3 29
IDN list of operating data for communication phase
2 27
IDN list of operating data for communication phase
3 28
IDN-list of parameter set 137
IDN-list of password-protected operation data 150
IDN list of retain data (replacement of devices) 379
Initial coordinate value 131
Initial position value 260
Input revolutions of load gear 86
Input revolutions of measuring gear 341
Integral-action component velocity loop 455
Interface status 24
Internal position data format 342
IxR boost factor 508
Jerk limit bipolar 175

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1007/1033


and Controls

Index

Kind of encoder 1, encoder memory 590


Kind of encoder 2, encoder memory 593
Kind of encoder 3, encoder memory 596

Language selection 144


Last valid position command value 257
lead time 345
Length of master data telegram 20
Length of the configurable data record in the AT
125
Length of the configurable data record in the MDT
126
Linear position data scaling exponent 56
Linear position data scaling factor 56
List of acceleration ramps 625
List of all IDNs not corresponding to default value
258
List of all operating modes 155
List of braking ramps 626
List of configurable data in the AT 126
List of configurable data in the MDT 127
List of diagnostic numbers 181
List of distances, set 0 535
List of distances, set 1 539
List of master axis initial positions, set 0 534
List of master axis initial positions, set 1 538
List of motion step modes, set 0 534
List of motion step modes, set 1 539
List of slave axis velocities, set 0 536
List of slave axis velocities, set 1 540
List of smoothing time constants 627
Load inertia 935
Load revolutions per actual value cycle slave axis
542
Logbook axis number 459
Logbook event 459
Logbook time stamp 460
Lower limit of velocity masking window 616

Magnetizing current 932


Magnetizing current, encoder memory 847
Manufacturer version 32
Marker position A 119
Marker position B 120
Mask class 2 diagnostics 69
Mask class 3 diagnostics 70
Master axis format converter IDN list signal selec
tion 584
Master axis format converter signal selection 585
Master axis position 283
Master axis position for slave axis 548
Master axis revolutions per master axis cycle 540
Master axis speed 549
Master axis velocity, set 0 533

Master axis velocity, set 1 538


Master communication, configuration 988
Master communication: gateway address 242
Master communication: IP address 240
Master communication: MAC address 240
Master communication: network mask 241
Master communication: software version 918
Master communication: station name 919
Master communication: station type 920
Master communication: status IP communication
597
Master communication status 987
Master control word 93
Master drive gear fine adjust, secondary master
590
Master drive gear input revolutions 357
Master drive gear input revolutions, secondary mas
ter 589
Master drive gear output revolutions 357
Master drive gear output revolutions, secondary
master 589
Master drive polarity 325
Max. activation time of enabling control 878
Max. activation time of enabling control 1 894
Max. activation time of enabling control 2 898
Max. activation time of enabling control 3 901
Max. activation time of enabling control 4 904
Max. model deviation 319
Max. tolerance time for different channel states
878
Maximum acceleration to be parameterized 366
Maximum drive off delay time 147
Maximum motor speed 82
Maximum motor voltage 492
Maximum motor voltage, encoder memory 854
Maximum occurred actual slip value in % 410
Maximum possible continuous current 959
Maximum stator frequency slope 506
Maximum travel range 150
Maximum velocity of motor, encoder memory 835
MDT error counter 32
MDT Transmit starting time (T2) 65
Mechanical operating data, motor 830
Memory 12
Memory image of safety technology memory 862
Memory of velocity command values 615
Message 'n_actual = n_command' 165
Message 'nactual < nx' 166
Message 'n command > n limit' 168
Message 'P >= Px' 169
Message 'T >= Tlimit' 167
Message 'T >= Tx' 167
Message In position 168
Message In target position 169
Message torque/force command value reached
229
Minimum AT transmit starting time (T1min) 16
Minimum feedback acquisition time (T4min) 17

1008/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
Minimum mains crest value 564
MMC identification number (CID) 968
Module code of control section 709
Module code of motor, encoder memory 840
Module code of power section 710
Module group, control word 457
Module group, status word 458
Modulo factor measuring encoder 549
Modulo value 74
Modulo value actual value cycle 562
Monitoring window 111
Monitoring window feedback 2 185
Monitoring window for safety related operational
stop 883
Monitoring window of slip in % 411
Motion profile, diagnosis, set 0 532
Motion profile, diagnosis, set 1 537
Motion profile, master axis switching position 531
Motion step 1, slave axis initial position 532
Motor current at standstill 81
Motor current at standstill, encoder memory 835
Motor inductance, encoder memory 857
Motor magnetizing inductance 956
Motor magnetizing inductance, encoder memory
855
Motor model adjust factor 513
Motor model frequency loop integral action time
513
Motor model frequency loop proportional gain 512
Motor peak current 80
Motor peak current, encoder memory 834
Motor potentiometer, acceleration 622
Motor potentiometer, command value 624
Motor potentiometer, deceleration 623
Motor potentiometer, step size 624
Motor shutdown temperature 132
Motor shutdown temperature, encoder memory
836
Motor temperature 183
Motor type 97
Motor type, encoder memory 836
Motor type plate data 949
Motor voltage at no load 491
Motor voltage at no load, encoder memory 854
Motor warning temperature 132
MST error counter 31
Multiplication 1 (motor encoder) 139
Multiplication 2 (optional encoder) 139
Multiplication of measuring encoder 417

NC cycle time (TNcyc) 15


NC delay trend monitoring 881
Negative position limit value 45
Negative velocity limit value 38
Nominal load of holding system 497
Nominal mains voltage crest value 565

Non-volatile memory active 967


Number of bits per master axis revolution 305
Number of motion steps, set 0 533
Number of motion steps, set 1 537
Number of pole pairs/pole pair distance 259
Number of pole pairs/pole pair distance, encoder
memory 842

Offset parameter 1 121


Offset parameter 2 121
Oper. hours control section at last successful brake
check 498
Oper. hours of contr. sect. at change of functional
packages 826
Oper. hours power section at last activat. of start.
lockout 322
Operating hours at last change of memory 862
Operating hours control section 375
Operating hours counter, motor 828
Operating hours power section 376
Operating status of starting lockout 324
Operational performance, motor 831
Optimum distance home switch-reference mark
353
Oscillation cycle time 135
Oscillation damping factor 508
Oscillation offset speed 135
Oscillation speed 135
Oscilloscope: control offset 270
Oscilloscope: control word 265
Oscilloscope: external trigger signal 270
Oscilloscope: internal trigger signal 271
Oscilloscope: list of measured values 1 261
Oscilloscope: list of measured values 2 261
Oscilloscope: list of measured values 3 349
Oscilloscope: list of measured values 4 349
Oscilloscope: number of measured values after trig
ger event 269
Oscilloscope: number of valid measured values
351
Oscilloscope: operating mode 260
Oscilloscope: signal selection 1 262
Oscilloscope: signal selection 2 262
Oscilloscope: signal selection 3 350
Oscilloscope: signal selection 4 350
Oscilloscope: signal selection list 351
Oscilloscope: size of memory 268
Oscilloscope: status word 265
Oscilloscope: time resolution 267
Oscilloscope: trigger edge 267
Oscilloscope: trigger level 264
Oscilloscope: trigger mask 263
Oscilloscope: trigger signal selection 263
Output revolutions of load gear 86
Output revolutions of measuring gear 341
Overload warning 450

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1009/1033


and Controls

Index
Overview of device addresses 948

P-0-0001, Switching frequency of the power output


stage 253
P-0-0004, Speed loop smoothing time constant
254
P-0-0007, Display text of diagnostic message 254
P-0-0008, Activation E-Stop function 255
P-0-0009, Error number 256
P-0-0010, Excessive position command value 256
P-0-0011, Last valid position command value 257
P-0-0012, C0300 Command Set absolute measur
ing 257
P-0-0013, List of all IDNs not corresponding to de
fault value 258
P-0-0014, C1400 Command Get marker position
258
P-0-0018, Number of pole pairs/pole pair distance
259
P-0-0019, Initial position value 260
P-0-0020, Oscilloscope: operating mode 260
P-0-0021, Oscilloscope: list of measured values 1
261
P-0-0022, Oscilloscope: list of measured values 2
261
P-0-0023, Oscilloscope: signal selection 1 262
P-0-0024, Oscilloscope: signal selection 2 262
P-0-0025, Oscilloscope: trigger mask 263
P-0-0026, Oscilloscope: trigger signal selection
263
P-0-0027, Oscilloscope: trigger level 264
P-0-0028, Oscilloscope: control word 265
P-0-0029, Oscilloscope: status word 265
P-0-0030, Oscilloscope: trigger edge 267
P-0-0031, Oscilloscope: time resolution 267
P-0-0032, Oscilloscope: size of memory 268
P-0-0033, Oscilloscope: number of measured val
ues after trigger event 269
P-0-0034, Position command additional actual val
ue 269
P-0-0035, Oscilloscope: control offset 270
P-0-0036, Oscilloscope: external trigger signal 270
P-0-0037, Oscilloscope: internal trigger signal 271
P-0-0038, Torque-generating current, command
value 271
P-0-0039, Flux-generating current, command value
272
P-0-0040, Velocity feedforward evaluation 272
P-0-0041, Position command average value filter
time constant 273
P-0-0042, Current position command average value
filter order 274
P-0-0043, Torque-generating current, actual value
275
P-0-0044, Flux-generating current, actual value
275

P-0-0045, Control word of current controller 276


P-0-0046, Status word of current controller 278
P-0-0047, Position command value control 280
P-0-0048, Effective velocity command value 281
P-0-0049, Effective torque/force command value
281
P-0-0051, Torque/force constant 282
P-0-0052, Actual position value of measuring en
coder 283
P-0-0053, Master axis position 283
P-0-0054, Additive master axis position 284
P-0-0055, Return distance 285
P-0-0056, Return velocity 285
P-0-0057, Return acceleration 286
P-0-0058, Return jerk 286
P-0-0059, Additive position command value, con
troller 287
P-0-0060, Filter time constant additional pos. Com
mand 287
P-0-0061, Angle offset begin of profile 288
P-0-0063, Torque-generating voltage, actual value
288
P-0-0064, Flux-generating voltage, actual value
289
P-0-0065, Absolute voltage value, actual value 289
P-0-0067, Phase current U, actual value 290
P-0-0068, Phase current V, actual value 290
P-0-0071, C3100 Recalculate actual value cycle
290
P-0-0072, Cam shaft profile 1 291
P-0-0073, Cam shaft distance 2 292
P-0-0074, Encoder type 1 (motor encoder) 293
P-0-0075, Encoder type 2 (optional encoder) 295
P-0-0076, Encoder type 3 (measuring encoder)
297
P-0-0077, Assignment motor encoder->optional
slot 298
P-0-0078, Assignment optional encoder ->optional
slot 300
P-0-0079, Assignment measuring encoder ->option
al slot 301
P-0-0081, Parallel output 1 302
P-0-0082, Parallel input 1 304
P-0-0083, Gear ratio fine adjust 305
P-0-0084, Number of bits per master axis revolu
tion 305
P-0-0085, Dynamic angle offset 306
P-0-0086, Configuration word synchronous operat
ing modes 307
P-0-0087, Actual position value offset of measuring
encoder 310
P-0-0088, Control word for synchronous operation
modes 310
P-0-0089, Status word for synchronous operating
modes 312
P-0-0090, Travel range limit parameter 314
P-0-0091, 315
P-0-0092, Cam shaft profile 2 316

1010/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
P-0-0093, Cam shaft distance 316
P-0-0094, Cam shaft switch angle 317
P-0-0095, Absolute encoder monitoring window for
motor encoder 317
P-0-0096, Absolute encoder monitoring window for
opt. encoder 318
P-0-0097, Absolute encoder monitoring window for
measuring encoder 319
P-0-0098, Max. model deviation 319
P-0-0099, Position command smoothing time con
stant 320
P-0-0100, Position command value extension 321
P-0-0101, Configuration for starting lockout selec
tor 321
P-0-0102, Oper. hours power section at last activat.
of start. lockout 322
P-0-0103, Time interval of forced dynamization
322
P-0-0104, Change history time interval of forced dy
namization 323
P-0-0105, Time stamp for list of diagnostic message
numbers 323
P-0-0106, Operating status of starting lockout 324
P-0-0108, Master drive polarity 325
P-0-0109, Torque/force peak limit 325
P-0-0114, Undervoltage threshold 326
P-0-0115, Device control: status word 328
P-0-0116, Device control: control word 331
P-0-0117, Activation of control unit reaction on er
ror 332
P-0-0118, Power supply, configuration 333
P-0-0119, Best possible deceleration 334
P-0-0120, Control word easy startup 336
P-0-0121, Gear 1 motor-side (motor encoder) 337
P-0-0122, Gear 1 encoder-side (motor encoder)
338
P-0-0123, Feed constant 2 (optional encoder) 339
P-0-0124, Gear 2 load-side (optional encoder) 339
P-0-0125, Gear 2 encoder-side (optional encoder)
340
P-0-0127, Input revolutions of measuring gear 341
P-0-0128, Output revolutions of measuring gear
341
P-0-0129, Internal position data format 342
P-0-0130, Position switch signal selection list 342
P-0-0131, Position switch signal selection 343
P-0-0132, Position switch switch-on threshold 344
P-0-0133, Position switch switch-off thresholds 344
P-0-0134, Position switch lead times 344
P-0-0135, Position switch status word 345
P-0-0139, Analog output 1 346
P-0-0140, Analog output 2 346
P-0-0141, Thermal drive load 346
P-0-0142, Synchronization acceleration 347
P-0-0143, Synchronization velocity 348
P-0-0144, Cam shaft distance switch angle 348
P-0-0145, Oscilloscope: list of measured values 3
349

P-0-0146, Oscilloscope: list of measured values 4


349
P-0-0147, Oscilloscope: signal selection 3 350
P-0-0148, Oscilloscope: signal selection 4 350
P-0-0149, Oscilloscope: signal selection list 351
P-0-0150, Oscilloscope: number of valid measured
values 351
P-0-0151, Synchronization init window for modulo
format 352
P-0-0152, Synchronization completed 352
P-0-0153, Optimum distance home switch-refer
ence mark 353
P-0-0154, Synchronization direction 354
P-0-0155, Synchronization mode 354
P-0-0156, Master drive gear input revolutions 357
P-0-0157, Master drive gear output revolutions 357
P-0-0158, Angle offset change rate 358
P-0-0159, Slave drive feed travel 358
P-0-0162, C1800 Command Drive optimization /
command value box 359
P-0-0163, Damping factor for autom. controller ad
just 360
P-0-0164, Application for autom. controller adjust
360
P-0-0165, Drive optimization, control word 361
P-0-0166, Drive optimization, end position negative
364
P-0-0167, Drive optimization, end position positive
365
P-0-0168, Maximum acceleration to be parameter
ized 366
P-0-0169, Drive optimization, travel distance 366
P-0-0170, Drive optimization, acceleration 367
P-0-0171, Drive optimization, velocity 368
P-0-0172, Drive optimization, dwell time 368
P-0-0176, Torque/Force command smoothing time
constant 369
P-0-0177, Absolute encoder buffer 1 (motor encod
er) 369
P-0-0178, Absolute encoder buffer 2 (optional en
coder) 370
P-0-0179, Absolute encoder buffer 3 (measuring en
coder) 370
P-0-0180, Acceleration feedforward smoothing time
constant 371
P-0-0185, Control word of encoder 2 (optional en
coder) 372
P-0-0187, Position command processing mode
374
P-0-0190, Operating hours control section 375
P-0-0191, Operating hours power section 376
P-0-0192, Error memory of diagnostic numbers
376
P-0-0193, Error memory operating hours of control
section 377
P-0-0194, Error memory power section 378
P-0-0195, IDN list of retain data (replacement of de
vices) 379

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1011/1033


and Controls

Index
P-0-0196, Build date and time 379
P-0-0197, System time 380
P-0-0198, System time error memory 381
P-0-0199, System time error code 382
P-0-0200, Start position probe function 2 active
382
P-0-0201, End position probe function 2 active 383
P-0-0202, Difference probe values 1 383
P-0-0203, Difference probe values 2 384
P-0-0204, Start position probe function 1 active
385
P-0-0205, End position probe function 1 active 386
P-0-0206, Probe 1, max. number of marker failures
386
P-0-0207, Probe 2, max. number of marker failures
387
P-0-0208, Analog input 5 387
P-0-0209, Analog input 6 388
P-0-0210, Analog input 1 389
P-0-0211, Analog input 2 389
P-0-0212, Analog input, list of assignable parame
ters 390
P-0-0213, Analog input, assignment A, target pa
rameter 390
P-0-0214, Analog input, assignment A, scaling per
10V full scale 391
P-0-0215, Analog input, assignment A, signal value
at 0V 391
P-0-0216, Analog input, assignment A, dead zone
392
P-0-0217, Analog input 1, time constant input filter
392
P-0-0218, Analog input, control parameter 393
P-0-0219, Analog input, maximum value for adjust
395
P-0-0220, C2800 Analog input adjust command
396
P-0-0222, Travel range limit switch inputs 396
P-0-0223, E-Stop input 397
P-0-0224, Probe 1, number of marker failures 398
P-0-0225, Probe 2, number of marker failures 398
P-0-0226, Probe, extended control word 399
P-0-0227, Cam shaft profile, access angle 401
P-0-0228, Analog input 3 401
P-0-0229, Analog input 4 402
P-0-0231, Analog input 2, time constant input filter
402
P-0-0232, Analog input 3, time constant input filter
403
P-0-0233, Analog input 4, time constant input filter
404
P-0-0234, Analog input 5, time constant input filter
405
P-0-0235, Analog input 6, time constant input filter
406
P-0-0236, Analog input, assignment B, target pa
rameter 407

P-0-0237, Analog input, assignment B, scaling per


10V full scale 407
P-0-0238, Analog input, assignment B, signal value
at 0V 408
P-0-0239, Analog input, assignment B, dead zone
408
P-0-0240, C1700 Command measuring wheel
mode 409
P-0-0241, Actual pos. smoothing time constant for
hybrid pos. control 409
P-0-0242, Current actual slip value in % 410
P-0-0243, Maximum occurred actual slip value in
% 410
P-0-0244, Monitoring window of slip in % 411
P-0-0300, Digital I/Os, assignment list 411
P-0-0301, Digital I/Os, bit numbers 413
P-0-0302, Digital I/Os, direction 413
P-0-0303, Digital I/Os, status display 414
P-0-0304, Digital I/Os, outputs 416
P-0-0326, Multiplication of measuring encoder 417
P-0-0327, Encoder resolution of measuring encod
er 417
P-0-0328, Type of position encoder for measuring
encoder 418
P-0-0329, Smoothing of actual position value 3 of
measuring encoder 419
P-0-0330, Control word of measuring encoder 420
P-0-0331, Status of measuring encoder 420
P-0-0332, Actual velocity value of measuring encod
er 421
P-0-0334, Absolute encoder range of measuring en
coder 421
P-0-0340, C3500 Command Determine encoder
correction values 421
P-0-0341, Control word for encoder correction 422
P-0-0342, Correction value table for encoder cor
rection 423
P-0-0343, Encoder 1, cosine signal 423
P-0-0344, Encoder 1, sine signal 424
P-0-0345, Encoder 2, cosine signal 425
P-0-0346, Encoder 2, sine signal 425
P-0-0347, Encoder 3, cosine signal 426
P-0-0348, Encoder 3, sine signal 426
P-0-0391, Actual position value difference encoder1
- encoder2 427
P-0-0393, IDN groups: control word 428
P-0-0394, IDN groups: list 428
P-0-0395, Average value filter for display: signal se
lection 429
P-0-0396, Average value filter for display: signal se
lection list 430
P-0-0397, Average value filter for display: time con
stant 431
P-0-0400, Axis correction external correction value
432
P-0-0401, Axis correction active correction value
433

1012/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
P-0-0402, Axis correction reference temperature
433
P-0-0403, Axis correction reference position for
temp. corr. 434
P-0-0404, Axis correction actual temperature pos.dependent 434
P-0-0405, Axis correction actual temperature pos.independent 435
P-0-0406, Axis correction temperature factor pos.dependent 435
P-0-0407, Axis correction temperature factor pos.independent 436
P-0-0408, Axis correction start position 436
P-0-0409, Axis correction end position 437
P-0-0410, Axis correction support point distance
437
P-0-0411, Axis correction, correction table positive
438
P-0-0412, Axis correction, correction table nega
tive 439
P-0-0413, Axis correction control word 439
P-0-0414, Analog Output 3 440
P-0-0415, Analog Output 4 440
P-0-0416, Analog Output 5 441
P-0-0417, Analog Output 6 441
P-0-0418, Analog output, assignment A, signal val
ue at 0V 442
P-0-0419, Analog output, assignment B, signal val
ue at 0V 442
P-0-0420, Analog output, assignment A, signal se
lection 443
P-0-0422, Analog output, assignment A, scaling [1/
V] 443
P-0-0423, Analog output, assignment B, signal se
lection 444
P-0-0425, Analog output, assignment B, scaling [1/
V] 444
P-0-0426, Analog output IDN list of assignable pa
rameters 445
P-0-0427, Control parameter of analog output 445
P-0-0434, Position command value of controller
447
P-0-0435, Control word of position controller 447
P-0-0436, Reference radius for quadrant error cor
rection 448
P-0-0437, Velocity time range for quadrant error cor
rection 448
P-0-0438, Table of path velocities for quadrant error
correction 449
P-0-0439, Table of velocity pulse for quadrant error
correction 449
P-0-0440, Actual output current value (absolute val
ue) 450
P-0-0441, Overload warning 450
P-0-0442, Actual value torque limit positive (station
ary) 451
P-0-0443, Actual value torque limit negative (sta
tionary) 451

P-0-0444, Actual value peak torque limit 452


P-0-0445, Status word torque/current limit 453
P-0-0451, Actual acceleration torque/force value
454
P-0-0452, Actual process torque/force value 455
P-0-0453, Integral-action component velocity loop
455
P-0-0454, Velocity feedforward actual value 456
P-0-0455, Acceleration feedforward actual value
456
P-0-0460, Module group, control word 457
P-0-0461, Module group, status word 458
P-0-0477, Logbook axis number 459
P-0-0478, Logbook event 459
P-0-0479, Logbook time stamp 460
P-0-0480, Patch function 1, source pointer 460
P-0-0481, Patch function 1, attribute 461
P-0-0482, Patch function 1, bit mask 461
P-0-0483, Patch function 1, exponent 462
P-0-0485, Patch function 1, display 462
P-0-0486, Patch function 2, source pointer 463
P-0-0487, Patch function 2, attribute 463
P-0-0488, Patch function 2, bit mask 464
P-0-0489, Patch function 2, exponent 465
P-0-0491, Patch function 2, display 465
P-0-0492, PLC patch function 1, data source 466
P-0-0493, PLC patch function 1, display 467
P-0-0494, PLC patch function 2, data source 467
P-0-0495, PLC patch function 2, display 468
P-0-0496, PLC patch function 3, data source 468
P-0-0497, PLC patch function 3, display 469
P-0-0498, PLC patch function 4, data source 470
P-0-0499, PLC patch function 4, display 471
P-0-0506, Amplitude for angle acquisition 471
P-0-0507, Test frequency for angle acquisition 472
P-0-0508, Commutation offset 473
P-0-0510, Rotor inertia 474
P-0-0512, Temperature sensor 475
P-0-0513, Temperature sensor characteristic 476
P-0-0517, Commutation: required harmonics com
ponent 477
P-0-0518, C5600 Command subsequent optimiza
tion of commutation offset 478
P-0-0520, Encoder validation error threshold factor
479
P-0-0521, Effective commutation offset 479
P-0-0522, Control word for commutation setting
480
P-0-0523, Commutation setting measured value
482
P-0-0524, C1200 Commutation offset setting com
mand 483
P-0-0525, Holding brake control word 483
P-0-0528, Flux loop proportional gain 485
P-0-0529, Scaling of stall current limit 486
P-0-0530, Slip increase 487
P-0-0532, Premagnetization factor 488
P-0-0533, Voltage loop proportional gain 490

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1013/1033


and Controls

Index
P-0-0534, Voltage loop integral action time 491
P-0-0535, Motor voltage at no load 491
P-0-0536, Maximum motor voltage 492
P-0-0539, Holding brake status word 493
P-0-0540, Torque of holding brake 494
P-0-0541, C2100 Brake check command 494
P-0-0542, C2000 Command Release motor holding
brake 495
P-0-0543, C3800 Command Apply motor holding
brake 495
P-0-0544, C3900 Command Abrasion of brake 496
P-0-0545, Test torque for releasing motor holding
brake 496
P-0-0546, Starting torque for releasing motor hold
ing brake 497
P-0-0547, Nominal load of holding system 497
P-0-0549, Oper. hours control section at last suc
cessful brake check 498
P-0-0550, Time interval brake check 499
P-0-0551, Current load torque 499
P-0-0554, Current torque value of the motor holding
brake 500
P-0-0555, Status word of axis controller 500
P-0-0556, Config word of axis controller 501
P-0-0565, C3600 Command Motor data identifica
tion 505
P-0-0566, C4600 Command Calculate motor control
parameters 505
P-0-0568, Voltage boost 506
P-0-0569, Maximum stator frequency slope 506
P-0-0570, Stall protection loop proportional gain
507
P-0-0571, Stall protection loop integral action time
507
P-0-0572, Slip compensation factor 508
P-0-0573, IxR boost factor 508
P-0-0574, Oscillation damping factor 508
P-0-0575, Search mode: search current factor 509
P-0-0576, Search mode: finding point slip factor
509
P-0-0577, Square characteristic: lowering factor
510
P-0-0578, Current for deceleration, absolute value
510
P-0-0579, Current for deceleration, time period 511
P-0-0590, Motor model frequency loop proportional
gain 512
P-0-0591, Motor model frequency loop integral ac
tion time 513
P-0-0592, Motor model adjust factor 513
P-0-0593, FXC: Total flux loop proportional gain
514
P-0-0594, FXC: Total flux loop integral action time
515
P-0-0595, FXC: Frequency loop proportional gain
515
P-0-0596, FXC: Frequency loop scaling factor of in
ertia 515

P-0-0597, FXC: Current loop proportional gain 516


P-0-0598, FXC: Current loop integral action time
517
P-0-0599, FXC: Slip frequency filter time constant
517
P-0-0600, FXC: Rated slip frequency 518
P-0-0601, Configuration motor data identification
518
P-0-0612, Control word for setting absolute meas
uring 519
P-0-0620, Encoder validation monitoring signal
520
P-0-0621, Encoder validation upper monitoring
threshold 521
P-0-0622, Encoder validation lower monitoring
threshold 521
P-0-0640, Cooling type 522
P-0-0681, Assignment IDN -> parallel output 1 523
P-0-0682, Assignment parallel input 1 -> IDN 523
P-0-0686, Additive position command value, posi
tioning velocity 524
P-0-0687, Additive position command value, posi
tioning acceleration 525
P-0-0688, Additive master axis position, positioning
velocity 525
P-0-0689, Additive master axis position, positioning
acceleration 526
P-0-0690, Additive velocity command value, proc
ess loop 526
P-0-0691, Additive position command value, proc
ess loop 527
P-0-0692, Additive master axis position, process
loop 528
P-0-0693, Filter time constant, add. master axis
pos., process loop 528
P-0-0694, Gear ratio fine adjust, process loop 529
P-0-0695, Angle offset begin of profile, process
loop 529
P-0-0696, Filter time constant, angle offset profile,
process loop 530
P-0-0697, Synchronization, master axis synchro
nous position 530
P-0-0698, Synchronization, master axis synchroni
zation range 531
P-0-0700, Motion profile, master axis switching po
sition 531
P-0-0701, Motion step 1, slave axis initial position
532
P-0-0702, Motion profile, diagnosis, set 0 532
P-0-0703, Number of motion steps, set 0 533
P-0-0704, Master axis velocity, set 0 533
P-0-0705, List of master axis initial positions, set 0
534
P-0-0706, List of motion step modes, set 0 534
P-0-0707, List of distances, set 0 535
P-0-0708, List of slave axis velocities, set 0 536
P-0-0709, Motion profile, diagnosis, set 1 537
P-0-0710, Number of motion steps, set 1 537

1014/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
P-0-0711, Master axis velocity, set 1 538
P-0-0712, List of master axis initial positions, set 1
538
P-0-0713, List of motion step modes, set 1 539
P-0-0714, List of distances, set 1 539
P-0-0715, List of slave axis velocities, set 1 540
P-0-0750, Master axis revolutions per master axis
cycle 540
P-0-0751, Synchronization divisions per command
cycle slave axis 541
P-0-0752, Load revolutions per actual value cycle
slave axis 542
P-0-0753, Position actual value in actual value cy
cle 543
P-0-0754, Command value cycle 543
P-0-0755, Gear reduction 544
P-0-0756, Virtual master axis, scaling type 545
P-0-0757, Virtual master axis, modulo value 546
P-0-0758, Virtual master axis, actual position value
547
P-0-0759, Virtual master axis, actual velocity value
547
P-0-0760, Virtual master axis, positioning control
word 548
P-0-0761, Master axis position for slave axis 548
P-0-0764, Master axis speed 549
P-0-0765, Modulo factor measuring encoder 549
P-0-0766, Virtual master axis, positioning command
value 550
P-0-0767, Virtual master axis, effective target posi
tion 551
P-0-0768, Virtual master axis, positioning status
551
P-0-0769, Virtual master axis, command value
mode 552
P-0-0770, Virtual master axis, positioning velocity
553
P-0-0771, Virtual master axis, positioning accelera
tion 553
P-0-0772, Virtual master axis, positioning decelera
tion 553
P-0-0774, Virtual master axis, positioning window
shortest distance 554
P-0-0775, Resulting master axis position 554
P-0-0776, Effective master axis position 555
P-0-0777, Effective master axis velocity 555
P-0-0778, Synchronous position command value
555
P-0-0779, Synchronous velocity 558
P-0-0780, Cam shaft profile 3 558
P-0-0781, Cam shaft profile 4 559
P-0-0782, Cam shaft profile 5 559
P-0-0783, Cam shaft profile 6 560
P-0-0784, Cam shaft profile 7 561
P-0-0785, Cam shaft profile 8 561
P-0-0786, Modulo value actual value cycle 562
P-0-0806, Current mains voltage crest value 562
P-0-0809, Properties of charging circuit 563

P-0-0810, Minimum mains crest value 564


P-0-0815, Nominal mains voltage crest value 565
P-0-0816, Amplifier temperature 2 565
P-0-0819, Energy counter 566
P-0-0833, Braking resistor threshold 566
P-0-0844, Braking resistor load 567
P-0-0858, Data of external braking resistor 567
P-0-0859, Data of internal braking resistor 568
P-0-0860, Converter configuration 569
P-0-0861, Power supply status word 572
P-0-0900, Encoder emulation signal selection list
574
P-0-0901, Encoder emulation signal selection 576
P-0-0902, Encoder emulation control parameter
577
P-0-0903, Encoder emulation resolution 578
P-0-0904, Encoder emulation zero pulse offset 580
P-0-0905, Encoder emulation zero pulse distance
580
P-0-0910, SSI control parameter 581
P-0-0911, Virtual master axis, positioning window
582
P-0-0912, Virtual master axis, standstill window
583
P-0-0913, Virtual master axis, positioning jerk 583
P-0-0914, Virtual master axis, velocity threshold po
sitioning 584
P-0-0915, Master axis format converter IDN list sig
nal selection 584
P-0-0916, Master axis format converter signal se
lection 585
P-0-0917, Control word of master axis generator
585
P-0-0918, Feed travel internal virtual master axis
586
P-0-0919, Synchronization mode, secondary mas
ter 586
P-0-0920, Synchronization acceleration, secondary
master 587
P-0-0921, Synchronization velocity, secondary mas
ter 587
P-0-0922, Preferred synchronization direction, sec
ondary master 588
P-0-0923, Synchroniz. window for shortest distance,
secondary master 588
P-0-0924, Selection primary master 589
P-0-0925, Master drive gear input revolutions, sec
ondary master 589
P-0-0926, Master drive gear output revolutions, sec
ondary master 589
P-0-0927, Master drive gear fine adjust, secondary
master 590
P-0-1000, Kind of encoder 1, encoder memory 590
P-0-1001, Encoder 1 resolution, encoder memory
591
P-0-1002, Absolute encoder offset 1, encoder mem
ory 592

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1015/1033


and Controls

Index
P-0-1003, Pulse wire encoder offset 1, encoder
memory 592
P-0-1004, Pulse wire encoder status 1, encoder
memory 592
P-0-1010, Kind of encoder 2, encoder memory 593
P-0-1011, Encoder 2 resolution, encoder memory
594
P-0-1012, Absolute encoder offset 2, encoder mem
ory 594
P-0-1013, Pulse wire encoder offset 2, encoder
memory 595
P-0-1014, Pulse wire encoder status 2, encoder
memory 595
P-0-1020, Kind of encoder 3, encoder memory 596
P-0-1021, Encoder 3 resolution, encoder memory
597
P-0-1022, Absolute encoder offset 3, encoder mem
ory 597
P-0-1044, Master communication: status IP commu
nication 597
P-0-1119, Velocity mix factor feedback 1 & 2 600
P-0-1120, Velocity control loop filter: filter type 600
P-0-1121, Velocity control loop filter: limit frequency
of low pass 601
P-0-1122, Velocity control loop filter: bandwidth of
band-stop filter 602
P-0-1123, Vel. cont. loop filter: center frequency of
band-stop filter 603
P-0-1125, Velocity control loop: average value filter
clock 604
P-0-1126, Velocity control loop: acceleration feed
forward 605
P-0-1139, Cogging torque compensation adaption
factor 606
P-0-1150, Command value generator output 607
P-0-1151, Command value generator, list of possi
ble target parameters 607
P-0-1152, Command value generator, target param
eter assignment 607
P-0-1153, Command value generator, control word
608
P-0-1154, Command value generator, offset 609
P-0-1155, Command value generator, amplitude
610
P-0-1156, Command value generator, duration 1
610
P-0-1157, Command value generator, duration 2
610
P-0-1158, Command value generator, periodic
time 611
P-0-1200, Control word 1 velocity control 611
P-0-1201, Ramp 1 pitch 613
P-0-1202, Final speed ramp 1 614
P-0-1203, Ramp 2 pitch 614
P-0-1206, Memory of velocity command values
615
P-0-1207, Lower limit of velocity masking window
616

P-0-1208, Upper limit of velocity masking window


617
P-0-1209, Acceleration factors for velocity masking
window 617
P-0-1210, Status word of velocity control mode
618
P-0-1211, Deceleration ramp 1 619
P-0-1213, Deceleration ramp 2 620
P-0-1214, Control word 2 velocity control 621
P-0-1215, Motor potentiometer, acceleration 622
P-0-1216, Motor potentiometer, deceleration 623
P-0-1217, Motor potentiometer, step size 624
P-0-1218, Motor potentiometer, command value
624
P-0-1222, Velocity command filter 625
P-0-1223, List of acceleration ramps 625
P-0-1224, List of braking ramps 626
P-0-1225, List of smoothing time constants 627
P-0-1270, PLC Global Register A0 628
P-0-1271, PLC Global Register A1 628
P-0-1272, PLC Global Register A2 629
P-0-1273, PLC Global Register A3 629
P-0-1274, PLC Global Register A4 629
P-0-1275, PLC Global Register A5 630
P-0-1276, PLC Global Register A6 630
P-0-1277, PLC Global Register A7 631
P-0-1278, PLC Global Register A8 631
P-0-1279, PLC Global Register A9 631
P-0-1280, PLC Global Register A10 632
P-0-1281, PLC Global Register A11 632
P-0-1282, PLC Global Register A12 633
P-0-1283, PLC Global Register A13 633
P-0-1284, PLC Global Register A14 633
P-0-1285, PLC Global Register A15 634
P-0-1286, PLC Global Register A16 634
P-0-1287, PLC Global Register A17 635
P-0-1288, PLC Global Register A18 635
P-0-1289, PLC Global Register A19 635
P-0-1290, PLC Global Register A20 636
P-0-1291, PLC Global Register A21 636
P-0-1292, PLC Global Register A22 637
P-0-1293, PLC Global Register A23 637
P-0-1294, PLC Global Register A24 637
P-0-1295, PLC Global Register A25 638
P-0-1296, PLC Global Register A26 638
P-0-1297, PLC Global Register A27 639
P-0-1298, PLC Global Register A28 639
P-0-1299, PLC Global Register A29 639
P-0-1300, PLC Global Register A30 640
P-0-1301, PLC Global Register A31 640
P-0-1311, PLC Global Register GL1 641
P-0-1312, PLC Global Register GL2 641
P-0-1316, PLC Global Register G16 642
P-0-1317, PLC Global Register G17 642
P-0-1318, PLC Global Register G18 642
P-0-1319, PLC Global Register G19 643
P-0-1320, PLC Global Register G20 643
P-0-1321, PLC Global Register G21 644

1016/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
P-0-1322, PLC Global Register G22 644
P-0-1323, PLC Global Register G23 644
P-0-1324, PLC Global Register G24 645
P-0-1325, PLC Global Register G25 645
P-0-1326, PLC Global Register G26 646
P-0-1327, PLC Global Register G27 646
P-0-1328, PLC Global Register G28 646
P-0-1329, PLC Global Register G29 647
P-0-1330, PLC Global Register G30 647
P-0-1331, PLC Global Register G31 648
P-0-1350, PLC control word 648
P-0-1351, PLC status word 649
P-0-1352, PLC user program administration data
650
P-0-1353, PLC user program area 0 650
P-0-1354, PLC user program area 1 651
P-0-1355, PLC user program area 2 651
P-0-1356, PLC user program area 3 652
P-0-1357, PLC user program area 4 652
P-0-1358, PLC user program area 5 653
P-0-1359, PLC retain data 653
P-0-1360, PLC program identifier 654
P-0-1361, PLC program name 654
P-0-1362, PLC boot project info 655
P-0-1363, PLC project info 656
P-0-1364, PLC idle time 656
P-0-1365, PLC error message 657
P-0-1367, PLC configuration 659
P-0-1368, PLC Global Register AL0 660
P-0-1369, PLC internally reserved 661
P-0-1370, PLC Global Register G0 661
P-0-1371, PLC Global Register G1 662
P-0-1372, PLC Global Register G2 662
P-0-1373, PLC Global Register G3 663
P-0-1374, PLC Global Register G4 663
P-0-1375, PLC Global Register G5 664
P-0-1376, PLC Global Register G6 664
P-0-1377, PLC Global Register G7 664
P-0-1378, PLC Global Register G8 665
P-0-1379, PLC Global Register G9 665
P-0-1380, PLC Global Register G10 666
P-0-1381, PLC Global Register G11 666
P-0-1382, PLC Global Register G12 666
P-0-1383, PLC Global Register G13 667
P-0-1384, PLC Global Register G14 667
P-0-1385, PLC Global Register G15 668
P-0-1386, PLC display format Global Register 668
P-0-1387, PLC Global Register AT0 669
P-0-1388, PLC Global Register AT1 670
P-0-1389, PLC Global Register GL0 670
P-0-1390, PLC input WORD0 AT %IB0 671
P-0-1391, PLC input WORD1 AT %IB2 672
P-0-1392, PLC input WORD2 AT %IB4 672
P-0-1393, PLC input WORD3 AT %IB6 673
P-0-1394, PLC input WORD4 AT %IB8 673
P-0-1395, PLC input WORD5 AT %IB10 673
P-0-1396, PLC input WORD6 AT %IB12 674
P-0-1397, PLC input WORD7 AT %IB14 674

P-0-1398, PLC input WORD8 AT %IB16 675


P-0-1399, PLC input WORD9 AT %IB18 675
P-0-1400, PLC input WORD10 AT %IB20 675
P-0-1401, PLC input WORD11 AT %IB22 676
P-0-1402, PLC input WORD12 AT %IB24 676
P-0-1403, PLC input WORD13 AT %IB26 677
P-0-1404, PLC input WORD14 AT %IB28 677
P-0-1405, PLC input WORD15 AT %IB30 678
P-0-1406, PLC input WORD16 AT %IB32 678
P-0-1407, PLC input WORD17 AT %IB34 679
P-0-1408, PLC input WORD18 AT %IB36 679
P-0-1409, PLC input WORD19 AT %IB38 679
P-0-1410, PLC output WORD0 AT %QB0 680
P-0-1411, PLC output WORD1 AT %QB2 681
P-0-1412, PLC output WORD2 AT %QB4 681
P-0-1413, PLC output WORD3 AT %QB6 682
P-0-1414, PLC output WORD4 AT %QB8 682
P-0-1415, PLC output WORD5 AT %QB10 683
P-0-1416, PLC output WORD6 AT %QB12 683
P-0-1417, PLC output WORD7 AT %QB14 683
P-0-1418, PLC output WORD8 AT %QB16 684
P-0-1419, PLC output WORD9 AT %QB18 685
P-0-1420, PLC output WORD10 AT %QB20 685
P-0-1421, PLC output WORD11 AT %QB22 686
P-0-1422, PLC output WORD12 AT %QB24 686
P-0-1423, PLC output WORD13 AT %QB26 687
P-0-1424, PLC output WORD14 AT %QB28 687
P-0-1425, PLC output WORD15 AT %QB30 688
P-0-1426, PLC output WORD16 AT %QB32 688
P-0-1427, PLC output WORD17 AT %QB34 689
P-0-1428, PLC output WORD18 AT %QB36 689
P-0-1429, PLC output WORD19 AT %QB38 689
P-0-1440, PLC input DWORD25 AT %IB100 690
P-0-1441, PLC input DWORD26 AT %IB104 691
P-0-1442, PLC input DWORD27 AT %IB108 691
P-0-1443, PLC input DWORD28 AT %IB112 692
P-0-1444, PLC input DWORD29 AT %IB116 692
P-0-1445, PLC input DWORD30 AT %IB120 693
P-0-1446, PLC input DWORD31 AT %IB124 693
P-0-1447, PLC input DWORD32 AT %IB128 693
P-0-1449, C4900 PLC command 694
P-0-1450, PLC/setting-up mode, positioning com
mand value 694
P-0-1451, PLC/setting-up mode, positioning veloci
ty 695
P-0-1452, PLC/setting-up mode, positioning accel
eration 696
P-0-1453, PLC/setting-up mode, positioning decel
eration 696
P-0-1454, PLC/setting-up mode, positioning com
mand value acceptance 697
P-0-1455, PLC positioning command value ac
knowledge 698
P-0-1460, PLC/setting-up mode, velocity command
value 698
P-0-1461, PLC Ramp 2 pitch 699
P-0-1463, PLC Deceleration ramp 2 700

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1017/1033


and Controls

Index
P-0-1465, PLC/Commishing mode Torque/force
command value 700
P-0-1466, PLC Torque/force ramp 701
P-0-1499, PLC retain data on-board 702
P-0-1506, Circuit board code optional module 1
702
P-0-1507, Circuit board code optional module 2
703
P-0-1508, Circuit board code optional module 3
704
P-0-1509, Circuit board code master communica
tion 704
P-0-1510, Circuit board code power section 705
P-0-1511, Circuit board code control section 706
P-0-1512, Circuit board code of optional module 4
707
P-0-1513, Circuit board code optional module 1 for
safety technology 708
P-0-1514, Circuit board code optional module 2 for
safety technology 708
P-0-1518, Module code of control section 709
P-0-1519, Module code of power section 710
P-0-1520, Control section type 711
P-0-1530, Control section MAC address 711
P-0-1531, Control section IP address 712
P-0-1532, Control section network mask 712
P-0-1533, Control section gateway address 713
P-0-1534, C6100 Command Activate IP settings
713
P-0-1544, Control section status IP communication
714
P-0-1600, CCD: configuration 716
P-0-1601, CCD: addresses of projected drives 719
P-0-1602, CCD: timing settings 720
P-0-1603, CCD: actual topology 720
P-0-1604, CCD: addresses of projected I/Os 721
P-0-1605, CCD: command communication phase
722
P-0-1606, CCD: actual communication phase 723
P-0-1607, CCD: axis error 723
P-0-1609, CCD: status word 724
P-0-1610, CCD: cycle time 725
P-0-1611, CCD: configuration list signal status
word 725
P-0-1612, CCD: configuration list signal control
word 726
P-0-1613, CCD: assignment list signal status word
726
P-0-1614, CCD: assignment list signal control word
727
P-0-1615, CCD: extrapolated cmd value IDN list sig
nal selection 727
P-0-1616, CCD: extrapolated cmd value signal se
lection 728
P-0-1617, CCD: number of extrapolation steps 728
P-0-1618, CCD: extrapolated command value 729
P-0-1621, CCD: configuration list master communi
cation cmd values 729

P-0-1622, CCD: configuration list master communi


cation actual values 730
P-0-1623, CCD: configuration list master cmd val
ues 732
P-0-1624, CCD: configuration list actual master val
ues 733
P-0-1625, CCD: configuration list slave cmd values
734
P-0-1626, CCD: configuration list actual slave val
ues 735
P-0-1627, CCD: configuration list master cmd val
ues I/Os 737
P-0-1628, CCD: configuration list act. master values
I/Os 737
P-0-1629, CCD: configuration compact I/Os 738
P-0-1630, CCD: diagnosis 739
P-0-1631, CCD: AT error counter 741
P-0-1632, CCD: system data 2 bytes 742
P-0-1633, CCD: system data 4 bytes 742
P-0-1635, CCD: command adjust slave addresses
743
P-0-1636, CCD: command topology 743
P-0-1637, CCD: error counter Port-1 744
P-0-1638, CCD: error counter Port-2 745
P-0-1639, CCD: allowed telegram failures 745
P-0-1640, CCD: MAC address 746
P-0-1641, CCD: IP address 746
P-0-1642, CCD: network mask 747
P-0-1643, CCD: gateway address 747
P-0-1644, CCD: status IP communication 748
P-0-1645, CCD: CC basic parameters 750
P-0-1646, CCD: CC connection #1 750
P-0-1647, CCD: CC connection #2 751
P-0-1648, CCD: CC connection #3 751
P-0-1649, CCD: CC connection #4 751
P-0-1650, CCD: control word compact I/Os 752
P-0-1651, CCD: master control word, slave 1 752
P-0-1652, CCD: master control word, slave 2 753
P-0-1653, CCD: master control word, slave 3 753
P-0-1654, CCD: master control word, slave 4 754
P-0-1655, CCD: master control word, slave 5 754
P-0-1656, CCD: master control word, slave 6 755
P-0-1657, CCD: master control word, slave 7 755
P-0-1658, CCD: master control word, slave 8 755
P-0-1659, CCD: master control word, slave 9 756
P-0-1660, CCD: status word compact I/Os 756
P-0-1661, CCD: drive status word, slave 1 757
P-0-1662, CCD: drive status word, slave 2 757
P-0-1663, CCD: drive status word, slave 3 758
P-0-1664, CCD: drive status word, slave 4 758
P-0-1665, CCD: drive status word, slave 5 758
P-0-1666, CCD: drive status word, slave 6 759
P-0-1667, CCD: drive status word, slave 7 759
P-0-1668, CCD: drive status word, slave 8 759
P-0-1669, CCD: drive status word, slave 9 760
P-0-1670, CCD: active actual position value, mas
ter 760

1018/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
P-0-1671, CCD: active actual position value, slave
1 760
P-0-1672, CCD: active actual position value, slave
2 761
P-0-1673, CCD: active actual position value, slave
3 761
P-0-1674, CCD: active actual position value, slave
4 762
P-0-1675, CCD: active actual position value, slave
5 762
P-0-1676, CCD: active actual position value, slave
6 763
P-0-1677, CCD: active actual position value, slave
7 763
P-0-1678, CCD: active actual position value, slave
8 763
P-0-1679, CCD: active actual position value, slave
9 764
P-0-1680, CCD: actual velocity value, master 764
P-0-1681, CCD: actual velocity value, slave 1 765
P-0-1682, CCD: actual velocity value, slave 2 765
P-0-1683, CCD: actual velocity value, slave 3 766
P-0-1684, CCD: actual velocity value, slave 4 766
P-0-1685, CCD: actual velocity value, slave 5 766
P-0-1686, CCD: actual velocity value, slave 6 767
P-0-1687, CCD: actual velocity value, slave 7 767
P-0-1688, CCD: actual velocity value, slave 8 768
P-0-1689, CCD: actual velocity value, slave 9 768
P-0-1690, CCD: actual torque/force value, master
768
P-0-1691, CCD: actual torque/force value, slave 1
769
P-0-1692, CCD: actual torque/force value, slave 2
769
P-0-1693, CCD: actual torque/force value, slave 3
770
P-0-1694, CCD: actual torque/force value, slave 4
770
P-0-1695, CCD: actual torque/force value, slave 5
770
P-0-1696, CCD: actual torque/force value, slave 6
771
P-0-1697, CCD: actual torque/force value, slave 7
771
P-0-1698, CCD: actual torque/force value, slave 8
772
P-0-1699, CCD: actual torque/force value, slave 9
772
P-0-1701, CCD: diagnostic message number slave
1 772
P-0-1702, CCD: diagnostic message number slave
2 773
P-0-1703, CCD: diagnostic message number slave
3 773
P-0-1704, CCD: diagnostic message number slave
4 774
P-0-1705, CCD: diagnostic message number slave
5 774

P-0-1706, CCD: diagnostic message number slave


6 775
P-0-1707, CCD: diagnostic message number slave
7 775
P-0-1708, CCD: diagnostic message number slave
8 775
P-0-1709, CCD: diagnostic message number slave
9 776
P-0-1710, CCD: signal status word, master 776
P-0-1711, CCD: signal status word, slave 1 777
P-0-1712, CCD: signal status word, slave 2 777
P-0-1713, CCD: signal status word, slave 3 778
P-0-1714, CCD: signal status word, slave 4 778
P-0-1715, CCD: signal status word, slave 5 778
P-0-1716, CCD: signal status word, slave 6 779
P-0-1717, CCD: signal status word, slave 7 779
P-0-1718, CCD: signal status word, slave 8 780
P-0-1719, CCD: signal status word, slave 9 780
P-0-1720, CCD: signal control word, master 780
P-0-1721, CCD: signal control word, slave 1 781
P-0-1722, CCD: signal control word, slave 2 781
P-0-1723, CCD: signal control word, slave 3 782
P-0-1724, CCD: signal control word, slave 4 782
P-0-1725, CCD: signal control word, slave 5 783
P-0-1726, CCD: signal control word, slave 6 783
P-0-1727, CCD: signal control word, slave 7 783
P-0-1728, CCD: signal control word, slave 8 784
P-0-1729, CCD: signal control word, slave 9 784
P-0-1730, CCD: MDT real-time container 1, master
785
P-0-1731, CCD: MDT real-time container 1, slave 1
785
P-0-1732, CCD: MDT real-time container 1, slave 2
786
P-0-1733, CCD: MDT real-time container 1, slave 3
786
P-0-1734, CCD: MDT real-time container 1, slave 4
786
P-0-1735, CCD: MDT real-time container 1, slave 5
787
P-0-1736, CCD: MDT real-time container 1, slave 6
787
P-0-1737, CCD: MDT real-time container 1, slave 7
788
P-0-1738, CCD: MDT real-time container 1, slave 8
788
P-0-1739, CCD: MDT real-time container 1, slave 9
788
P-0-1740, CCD: MDT real-time container 2, master
789
P-0-1741, CCD: MDT real-time container 2, slave 1
789
P-0-1742, CCD: MDT real-time container 2, slave 2
790
P-0-1743, CCD: MDT real-time container 2, slave 3
790
P-0-1744, CCD: MDT real-time container 2, slave 4
791

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1019/1033


and Controls

Index
P-0-1745, CCD: MDT real-time container 2, slave 5
791
P-0-1746, CCD: MDT real-time container 2, slave 6
791
P-0-1747, CCD: MDT real-time container 2, slave 7
792
P-0-1748, CCD: MDT real-time container 2, slave 8
792
P-0-1749, CCD: MDT real-time container 2, slave 9
793
P-0-1750, CCD: MDT real-time container 3, master
793
P-0-1751, CCD: MDT real-time container 3, slave 1
793
P-0-1752, CCD: MDT real-time container 3, slave 2
794
P-0-1753, CCD: MDT real-time container 3, slave 3
794
P-0-1754, CCD: MDT real-time container 3, slave 4
795
P-0-1755, CCD: MDT real-time container 3, slave 5
795
P-0-1756, CCD: MDT real-time container 3, slave 6
796
P-0-1757, CCD: MDT real-time container 3, slave 7
796
P-0-1758, CCD: MDT real-time container 3, slave 8
796
P-0-1759, CCD: MDT real-time container 3, slave 9
797
P-0-1760, CCD: MDT real-time container 4, master
797
P-0-1761, CCD: MDT real-time container 4, slave 1
798
P-0-1762, CCD: MDT real-time container 4, slave 2
798
P-0-1763, CCD: MDT real-time container 4, slave 3
799
P-0-1764, CCD: MDT real-time container 4, slave 4
799
P-0-1765, CCD: MDT real-time container 4, slave 5
799
P-0-1766, CCD: MDT real-time container 4, slave 6
800
P-0-1767, CCD: MDT real-time container 4, slave 7
800
P-0-1768, CCD: MDT real-time container 4, slave 8
801
P-0-1769, CCD: MDT real-time container 4, slave 9
801
P-0-1770, CCD: AT real-time container 1, master
801
P-0-1771, CCD: AT real-time container 1, slave 1
802
P-0-1772, CCD: AT real-time container 1, slave 2
802
P-0-1773, CCD: AT real-time container 1, slave 3
803

P-0-1774, CCD: AT real-time container 1, slave 4


803
P-0-1775, CCD: AT real-time container 1, slave 5
804
P-0-1776, CCD: AT real-time container 1, slave 6
804
P-0-1777, CCD: AT real-time container 1, slave 7
804
P-0-1778, CCD: AT real-time container 1, slave 8
805
P-0-1779, CCD: AT real-time container 1, slave 9
805
P-0-1780, CCD: AT real-time container 2, master
806
P-0-1781, CCD: AT real-time container 2, slave 1
806
P-0-1782, CCD: AT real-time container 2, slave 2
807
P-0-1783, CCD: AT real-time container 2, slave 3
807
P-0-1784, CCD: AT real-time container 2, slave 4
807
P-0-1785, CCD: AT real-time container 2, slave 5
808
P-0-1786, CCD: AT real-time container 2, slave 6
808
P-0-1787, CCD: AT real-time container 2, slave 7
809
P-0-1788, CCD: AT real-time container 2, slave 8
809
P-0-1789, CCD: AT real-time container 2, slave 9
809
P-0-1790, CCD: AT real-time container 3, master
810
P-0-1791, CCD: AT real-time container 3, slave 1
810
P-0-1792, CCD: AT real-time container 3, slave 2
811
P-0-1793, CCD: AT real-time container 3, slave 3
811
P-0-1794, CCD: AT real-time container 3, slave 4
812
P-0-1795, CCD: AT real-time container 3, slave 5
812
P-0-1796, CCD: AT real-time container 3, slave 6
812
P-0-1797, CCD: AT real-time container 3, slave 7
813
P-0-1798, CCD: AT real-time container 3, slave 8
813
P-0-1799, CCD: AT real-time container 3, slave 9
814
P-0-1800, CCD: AT real-time container 4, master
814
P-0-1801, CCD: AT real-time container 4, slave 1
814
P-0-1802, CCD: AT real-time container 4, slave 2
815

1020/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
P-0-1803, CCD: AT real-time container 4, slave 3
815
P-0-1804, CCD: AT real-time container 4, slave 4
816
P-0-1805, CCD: AT real-time container 4, slave 5
816
P-0-1806, CCD: AT real-time container 4, slave 6
817
P-0-1807, CCD: AT real-time container 4, slave 7
817
P-0-1808, CCD: AT real-time container 4, slave 8
817
P-0-1809, CCD: AT real-time container 4, slave 9
818
P-0-1810, CCD: status word synchronous operating
modes, master 818
P-0-1811, CCD: status word synchronous operating
modes, slave 1 819
P-0-1812, CCD: status word synchronous operating
modes, slave 2 819
P-0-1813, CCD: status word synchronous operating
modes, slave 3 820
P-0-1814, CCD: status word synchronous operating
modes, slave 4 820
P-0-1815, CCD: status word synchronous operating
modes, slave 5 820
P-0-1816, CCD: status word synchronous operating
modes, slave 6 821
P-0-1817, CCD: status word synchronous operating
modes, slave 7 821
P-0-1818, CCD: status word synchronous operating
modes, slave 8 822
P-0-1819, CCD: status word synchronous operating
modes, slave 9 822
P-0-1843, SERCOS III: error counter Port-1 822
P-0-1844, SERCOS III: error counter Port-2 823
P-0-1845, CC: basic parameters 824
P-0-1846, CC: connection #1 824
P-0-1847, CC: connection #2 825
P-0-1848, CC: connection #3 825
P-0-1849, CC: connection #4 826
P-0-2002, Oper. hours of contr. sect. at change of
functional packages 826
P-0-2003, Selection of functional packages 827
P-0-2004, Active functional packages 827
P-0-2051, Operating hours counter, motor 828
P-0-2052, Thermal operating data, motor 829
P-0-2053, Mechanical operating data, motor 830
P-0-2054, Operational performance, motor 831
P-0-2055, Serial number, motor 831
P-0-2100, Velocity loop proportional gain, encoder
memory 832
P-0-2101, Velocity loop integral-action time, encod
er memory 832
P-0-2104, Position loop Kv-factor, encoder memo
ry 833
P-0-2106, Current loop proportional gain 1, encoder
memory 833

P-0-2107, Current loop integral-action time 1, en


coder memory 834
P-0-2109, Motor peak current, encoder memory
834
P-0-2111, Motor current at standstill, encoder mem
ory 835
P-0-2113, Maximum velocity of motor, encoder
memory 835
P-0-2141, Motor type, encoder memory 836
P-0-2204, Motor shutdown temperature, encoder
memory 836
P-0-2206, Drive On delay time, encoder memory
837
P-0-2207, Drive Off delay time, encoder memory
837
P-0-2216, Parameter set switching, configuration
837
P-0-2217, Parameter set switching, preselection
range 839
P-0-2218, Parameter set switching, delay time 840
P-0-3000, Module code of motor, encoder memory
840
P-0-3001, Encoder type 1 (motor encoder), encoder
memory 841
P-0-3002, Number of pole pairs/pole pair distance,
encoder memory 842
P-0-3003, Rotor inertia, encoder memory 842
P-0-3004, Speed loop smoothing time constant, en
coder memory 842
P-0-3005, Torque/force constant, encoder memory
843
P-0-3006, Rated motor speed, encoder memory
843
P-0-3007, Stator resistance, encoder memory 844
P-0-3008, Commutation offset, encoder memory
844
P-0-3009, Holding brake control word, encoder
memory 845
P-0-3010, Torque of motor holding brake, encoder
memory 845
P-0-3011, Holding brake current, encoder memory
846
P-0-3012, Temperature sensor, encoder memory
846
P-0-3014, Magnetizing current, encoder memory
847
P-0-3015, Flux-generating current, limit value, en
coder memory 847
P-0-3016, Direct-axis inductance of motor, encoder
memory 847
P-0-3017, Quadrature-axis inductance of motor, en
coder memory 848
P-0-3018, Charact. quadr.-axis induct. of motor, in
duct., enc. Memory 848
P-0-3019, Charact. quadr.-axis induct. of motor, cur
rents, enc. Memory 849
P-0-3020, Thermal time constant of winding, encod
er memory 849

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1021/1033


and Controls

Index
P-0-3021, Thermal time constant of motor, encoder
memory 850
P-0-3022, Thermal short-time overload of winding,
encoder memory 850
P-0-3023, Current limit value of demagnetization,
encoder memory 851
P-0-3025, Brake voltage, encoder memory 851
P-0-3028, Flux loop proportional gain, encoder
memory 851
P-0-3029, Scaling of stall current limit, encoder
memory 852
P-0-3032, Premagnetization factor, encoder memo
ry 852
P-0-3033, Voltage loop proportional gain, encoder
memory 853
P-0-3034, Voltage loop intergral action time, encod
er memory 853
P-0-3035, Motor voltage at no load, encoder mem
ory 854
P-0-3036, Maximum motor voltage, encoder mem
ory 854
P-0-3039, Stator leakage inductance, encoder
memory 855
P-0-3040, Rotor leakage inductance, encoder mem
ory 855
P-0-3041, Motor magnetizing inductance, encoder
memory 855
P-0-3042, Characteristic of motor magnetizing in
ductance, encoder mem. 856
P-0-3043, Rotor time constant, encoder memory
856
P-0-3050, Motor inductance, encoder memory 857
P-0-3051, Encoder memory, operating hours coun
ter, motor 857
P-0-3052, Encoder memory, thermal operating data,
motor 858
P-0-3053, Encoder memory, mechanical operating
data, motor 859
P-0-3100, Version of data structure in encoder mem
ory 860
P-0-3200, Safety technology firmware code 861
P-0-3201, Change counter of safety technology
memory 862
P-0-3202, Operating hours at last change of mem
ory 862
P-0-3203, Memory image of safety technology
memory 862
P-0-3204, C3000 Synchronize and store safety
technology IDN command 863
P-0-3205, Safety technology device identifier 863
P-0-3206, Safety technology password 864
P-0-3207, Safety technology password level 865
P-0-3208, Backup of safety techn. data channel 2
866
P-0-3209, Safety technology commissioning identi
fier 867
P-0-3210, Safety technology configuration 867

P-0-3211, Safety technology I/O configuration list,


channel 2 870
P-0-3212, Safety technology control word, channel
1 870
P-0-3213, Safety technology operating status 872
P-0-3214, Safety technology status word, channel
1 873
P-0-3215, Selected safety technology operating sta
tus 874
P-0-3216, Active safety technology signals 874
P-0-3217, I/O status channel 2 (optional safety tech
nology module) 875
P-0-3218, C3700 Manually unlocking the safety
door 876
P-0-3219, Diagnostic safety technology message
877
P-0-3220, Tolerance time transition from normal op
eration 877
P-0-3221, Max. tolerance time for different channel
states 878
P-0-3222, Max. activation time of enabling control
878
P-0-3223, Time interval for dynamization of safety
function selection 879
P-0-3224, Duration of dynamization pulse of safety
function selection 880
P-0-3225, Tolerance time transition from safety rel.
oper. 881
P-0-3226, NC delay trend monitoring 881
P-0-3228, C4000 Homing procedure command
channel 2 882
P-0-3229, Tolerance window for safety related hom
ing procedure 883
P-0-3230, Monitoring window for safety related op
erational stop 883
P-0-3231, Reference position for safety related ref
erence 884
P-0-3232, Standstill window for safety related direc
tion of motion 884
P-0-3233, Velocity threshold for safety related halt
885
P-0-3234, Safety related maximum speed 886
P-0-3235, Safety related end position, positive 886
P-0-3236, Safety related end position, negative
887
P-0-3237, Safety technology absolute offset 888
P-0-3238, Extended safety technology status 889
P-0-3239, Configuration of global safety technology
functions 889
P-0-3240, Configuration of safety related motion 1
890
P-0-3241, Safety related limited absolute position 1,
positive 891
P-0-3242, Safety related limited absolute position 1,
negative 892
P-0-3243, Safety related limited increment 1 892
P-0-3244, Safety related reduced speed 1 893

1022/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
P-0-3245, Safety related deceleration/acceleration
ramp 1 893
P-0-3246, Max. activation time of enabling control
1 894
P-0-3250, Configuration of safety related motion 2
895
P-0-3251, Safety related limited absolute position 2,
positive 895
P-0-3252, Safety related limited absolute position 2,
negative 896
P-0-3253, Safety related limited increment 2 897
P-0-3254, Safety related reduced speed 2 897
P-0-3255, Safety related deceleration/acceleration
ramp 2 898
P-0-3256, Max. activation time of enabling control
2 898
P-0-3260, Configuration of safety related motion 3
899
P-0-3263, Safety related limited increment 3 900
P-0-3264, Safety related reduced speed 3 900
P-0-3265, Safety related deceleration/acceleration
ramp 3 901
P-0-3266, Max. activation time of enabling control
3 901
P-0-3270, Configuration of safety related motion 4
902
P-0-3273, Safety related limited increment 4 903
P-0-3274, Safety related reduced speed 4 903
P-0-3275, Safety related deceleration/acceleration
ramp 4 904
P-0-3276, Max. activation time of enabling control
4 904
P-0-3280, Actual position value, channel 2 905
P-0-3281, Actual velocity value, channel 2 906
P-0-3282, Safety related monitored deceleration
906
P-0-3290, PROFIsafe: F_Destination_Address 907
P-0-3291, PROFIsafe: F_Source_Address 908
P-0-3292, PROFIsafe: F_Parameters 908
P-0-3295, Safety technology field bus configuration
909
P-0-3296, Safety technology field bus control word
910
P-0-3297, Safety technology field bus status word
911
P-0-3300, Redundant holding brake: configuration
912
P-0-3301, Redundant holding brake: status word
912
P-0-3302, Safety related holding system: time inter
val brake check 914
P-0-3303, Safety related holding system: nominal
load 914
P-0-3304, Safety related holding system: torque/
force constant 915
P-0-3306, Delay time motor holding brake 915
P-0-3307, Safety technology - drive off delay time
916

P-0-3310, Safety related holding system: travel


range brake check 916
P-0-3311, Safety rel. hold. sys.: dur. test torque in
jection br. check 917
P-0-3313, C5800 Command Apply redundant hold
ing brake 917
P-0-3314, C5900 Command Abrasion of redundant
holding brake 918
P-0-3600, Master communication: software version
918
P-0-3601, Master communication: station name
919
P-0-3602, Master communication: station type 920
P-0-3610, CANopen: Heartbeat/NodeGuard Config
uration 920
P-0-3611, CANopen: COB-IDs 921
P-0-3612, CANopen: Transmission Types 922
P-0-3613, CANopen: List of the Event Parameters
922
P-0-3900, Command values for control section ad
just 923
P-0-3901, Adjust values of control section 923
P-0-3902, Command values for power section ad
just 924
P-0-3903, Adjust values of power section 924
P-0-3904, Adjust values analog I/O interface 3-4
925
P-0-3905, Adjust values analog I/O interface 5-6
925
P-0-3906, Adjust values analog inputs interface
3-6 926
P-0-3972, FOCsl: estimated angle 926
P-0-3973, FOCsl: correction angle 926
P-0-3974, FOCsl: encoder angle 927
P-0-3975, FOCsl: control deviation 927
P-0-3980, FOCsl: configuration word 928
P-0-3981, FOCsl: motor model configuration 928
P-0-3982, FOCsl: carrier signal configuration 928
P-0-4002, Charact. of quadrature-axis induct. of mo
tor, inductances 929
P-0-4003, Charact. of quadrature-axis inductance of
motor, currents 930
P-0-4004, Magnetizing current 932
P-0-4005, Flux-generating current, limit value 932
P-0-4006, Positioning block target position 933
P-0-4007, Positioning block velocity 934
P-0-4008, Positioning block acceleration 934
P-0-4009, Positioning block jerk 935
P-0-4010, Load inertia 935
P-0-4013, Current limit value of demagnetization
936
P-0-4014, Type of construction of motor 937
P-0-4016, Direct-axis inductance of motor 939
P-0-4017, Quadrature-axis inductance of motor
940
P-0-4018, Positioning block mode delay time 941
P-0-4019, Positioning block mode 941
P-0-4021, Baud rate RS-232/485 942

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1023/1033


and Controls

Index
P-0-4022, Drive address of serial interface 943
P-0-4023, C0400 Communication phase 2 transi
tion 944
P-0-4024, IDN list cyclic parameter display 944
P-0-4025, Drive address of master communication
944
P-0-4026, Positioning block selection 945
P-0-4027, Transmission length SERCOS interface
946
P-0-4028, Device control word 946
P-0-4029, Diagnostic report SCSB module 947
P-0-4031, Overview of device addresses 948
P-0-4032, Motor type plate data 949
P-0-4033, C3200 Command Calculate motor data
950
P-0-4034, Thermal time constant of winding 951
P-0-4035, Thermal time constant of motor 952
P-0-4036, Rated motor speed 953
P-0-4037, Thermal short-time overload of winding
954
P-0-4039, Stator leakage inductance 954
P-0-4040, Rotor leakage inductance 955
P-0-4041, Motor magnetizing inductance 956
P-0-4042, Characteristic of motor magnetizing in
ductance 957
P-0-4043, Rotor time constant 958
P-0-4045, Maximum possible continuous current
959
P-0-4046, Effective peak current 959
P-0-4048, Stator resistance 960
P-0-4050, Answer delay RS-232/485 961
P-0-4051, Positioning block acknowledgment 961
P-0-4052, Positioning block, last accepted 962
P-0-4053, Positioning block, last active 962
P-0-4054, C5400 Command Save PLC retain data
on MMC 962
P-0-4055, C5500 Command Load PLC retain data
from MMC 963
P-0-4057, Positioning block, input linked blocks
963
P-0-4058, Amplifier type data 964
P-0-4059, Electric type data of power section 964
P-0-4060, Positioning block control word 964
P-0-4061, Positioning block status word 965
P-0-4063, Positioning block deceleration 966
P-0-4064, Password level 966
P-0-4065, Non-volatile memory active 967
P-0-4066, MMC identification number (CID) 968
P-0-4067, Project identification 968
P-0-4068, Field bus: control word IO 969
P-0-4069, Field bus: module diagnosis 971
P-0-4070, Parameter storage configuration 971
P-0-4071, Field bus: length of cyclic command value
data channel 972
P-0-4072, C2900 Command Firmware update from
MMC 973
P-0-4073, Field bus: diagnostic message 973
P-0-4074, Field bus: data format 976

P-0-4075, Field bus: watchdog 977


P-0-4076, Field bus: cycle time (Tcyc) 977
P-0-4077, Field bus: control word 978
P-0-4078, Field bus: status word 980
P-0-4079, Field bus: baud rate 982
P-0-4080, Field bus: config. list of cyclic actual value
data ch. 983
P-0-4081, Field bus: config. list of cyclic command
value data ch. 983
P-0-4082, Field bus: length of cyclic actual value da
ta channel 984
P-0-4083, Field bus: length of parameter channel
985
P-0-4084, Field bus: profile type 985
P-0-4085, Command Activate easy startup mode
986
P-0-4086, Master communication status 987
P-0-4087, Baud rate SERCOS interface 987
P-0-4088, Master communication, configuration
988
P-0-4090, Configuration for loading default values
990
P-0-4091, C2500 Copy IDN from optional memory
to internal memory 993
P-0-4092, C2600 Copy IDN from internal memory to
optional memory 993
P-0-4095, RS-232/485 Parity 994
Parallel input 1 304
Parallel output 1 302
Parameter checksum 163
Parameter name 11
Parameter number 11
Parameter set switching, configuration 837
Parameter set switching, delay time 840
Parameter set switching, preselection range 839
Parameter storage configuration 971
Password 145
Password level 966
Patch function 1, attribute 461
Patch function 1, bit mask 461
Patch function 1, display 462
Patch function 1, exponent 462
Patch function 1, source pointer 460
Patch function 2, attribute 463
Patch function 2, bit mask 464
Patch function 2, display 465
Patch function 2, exponent 465
Patch function 2, source pointer 463
Phase current U, actual value 290
Phase current V, actual value 290
PLC/Commishing mode Torque/force command val
ue 700
PLC/setting-up mode, positioning acceleration 696
PLC/setting-up mode, positioning command value
694
PLC/setting-up mode, positioning command value
acceptance 697
PLC/setting-up mode, positioning deceleration 696

1024/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
PLC/setting-up mode, positioning velocity 695
PLC/setting-up mode, velocity command value 698
PLC boot project info 655
PLC configuration 659
PLC control word 648
PLC Deceleration ramp 2 700
PLC display format Global Register 668
PLC error message 657
PLC Global Register A0 628
PLC Global Register A1 628
PLC Global Register A10 632
PLC Global Register A11 632
PLC Global Register A12 633
PLC Global Register A13 633
PLC Global Register A14 633
PLC Global Register A15 634
PLC Global Register A16 634
PLC Global Register A17 635
PLC Global Register A18 635
PLC Global Register A19 635
PLC Global Register A2 629
PLC Global Register A20 636
PLC Global Register A21 636
PLC Global Register A22 637
PLC Global Register A23 637
PLC Global Register A24 637
PLC Global Register A25 638
PLC Global Register A26 638
PLC Global Register A27 639
PLC Global Register A28 639
PLC Global Register A29 639
PLC Global Register A3 629
PLC Global Register A30 640
PLC Global Register A31 640
PLC Global Register A4 629
PLC Global Register A5 630
PLC Global Register A6 630
PLC Global Register A7 631
PLC Global Register A8 631
PLC Global Register A9 631
PLC Global Register AL0 660
PLC Global Register AT0 669
PLC Global Register AT1 670
PLC Global Register G0 661
PLC Global Register G1 662
PLC Global Register G10 666
PLC Global Register G11 666
PLC Global Register G12 666
PLC Global Register G13 667
PLC Global Register G14 667
PLC Global Register G15 668
PLC Global Register G16 642
PLC Global Register G17 642
PLC Global Register G18 642
PLC Global Register G19 643
PLC Global Register G2 662
PLC Global Register G20 643
PLC Global Register G21 644

PLC Global Register G22 644


PLC Global Register G23 644
PLC Global Register G24 645
PLC Global Register G25 645
PLC Global Register G26 646
PLC Global Register G27 646
PLC Global Register G28 646
PLC Global Register G29 647
PLC Global Register G3 663
PLC Global Register G30 647
PLC Global Register G31 648
PLC Global Register G4 663
PLC Global Register G5 664
PLC Global Register G6 664
PLC Global Register G7 664
PLC Global Register G8 665
PLC Global Register G9 665
PLC Global Register GL0 670
PLC Global Register GL1 641
PLC Global Register GL2 641
PLC idle time 656
PLC input DWORD25 AT %IB100 690
PLC input DWORD26 AT %IB104 691
PLC input DWORD27 AT %IB108 691
PLC input DWORD28 AT %IB112 692
PLC input DWORD29 AT %IB116 692
PLC input DWORD30 AT %IB120 693
PLC input DWORD31 AT %IB124 693
PLC input DWORD32 AT %IB128 693
PLC input WORD0 AT %IB0 671
PLC input WORD10 AT %IB20 675
PLC input WORD11 AT %IB22 676
PLC input WORD12 AT %IB24 676
PLC input WORD13 AT %IB26 677
PLC input WORD14 AT %IB28 677
PLC input WORD15 AT %IB30 678
PLC input WORD16 AT %IB32 678
PLC input WORD17 AT %IB34 679
PLC input WORD18 AT %IB36 679
PLC input WORD19 AT %IB38 679
PLC input WORD1 AT %IB2 672
PLC input WORD2 AT %IB4 672
PLC input WORD3 AT %IB6 673
PLC input WORD4 AT %IB8 673
PLC input WORD5 AT %IB10 673
PLC input WORD6 AT %IB12 674
PLC input WORD7 AT %IB14 674
PLC input WORD8 AT %IB16 675
PLC input WORD9 AT %IB18 675
PLC internally reserved 661
PLC output WORD0 AT %QB0 680
PLC output WORD10 AT %QB20 685
PLC output WORD11 AT %QB22 686
PLC output WORD12 AT %QB24 686
PLC output WORD13 AT %QB26 687
PLC output WORD14 AT %QB28 687
PLC output WORD15 AT %QB30 688
PLC output WORD16 AT %QB32 688

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1025/1033


and Controls

Index
PLC output WORD17 AT %QB34 689
PLC output WORD18 AT %QB36 689
PLC output WORD19 AT %QB38 689
PLC output WORD1 AT %QB2 681
PLC output WORD2 AT %QB4 681
PLC output WORD3 AT %QB6 682
PLC output WORD4 AT %QB8 682
PLC output WORD5 AT %QB10 683
PLC output WORD6 AT %QB12 683
PLC output WORD7 AT %QB14 683
PLC output WORD8 AT %QB16 684
PLC output WORD9 AT %QB18 685
PLC patch function 1, data source 466
PLC patch function 1, display 467
PLC patch function 2, data source 467
PLC patch function 2, display 468
PLC patch function 3, data source 468
PLC patch function 3, display 469
PLC patch function 4, data source 470
PLC patch function 4, display 471
PLC positioning command value acknowledge 698
PLC program identifier 654
PLC program name 654
PLC project info 656
PLC Ramp 2 pitch 699
PLC retain data 653
PLC retain data on-board 702
PLC status word 649
PLC Torque/force ramp 701
PLC user program administration data 650
PLC user program area 0 650
PLC user program area 1 651
PLC user program area 2 651
PLC user program area 3 652
PLC user program area 4 652
PLC user program area 5 653
Position actual value in actual value cycle 543
Position command additional actual value 269
Position command average value filter time con
stant 273
Position command processing mode 374
Position command smoothing time constant 320
Position command value 43
Position command value control 280
Position command value extension 321
Position command value of controller 447
Position command value status 192
Position data scaling type 54
Position feedback 1 type 148
Position feedback 1 value 46
Position feedback 2 type 83
Position feedback 2 value 48
Position feedback value status 191
Positioning acceleration 141
Positioning block, input linked blocks 963
Positioning block, last accepted 962
Positioning block, last active 962
Positioning block acceleration 934

Positioning block acknowledgment 961


Positioning block control word 964
Positioning block deceleration 966
Positioning block jerk 935
Positioning block mode 941
Positioning block mode delay time 941
Positioning block selection 945
Positioning block status word 965
Positioning block target position 933
Positioning block velocity 934
Positioning command acknowledge 201
Positioning command value 151
Positioning control word 171
Positioning deceleration 176
Positioning Jerk 130
Positioning status word 206
Positioning velocity 140
Positioning velocity > nLimit 162
Positioning velocity threshold in modulo mode 200
Position loop Kv-factor 75
Position loop Kv-factor, encoder memory 833
Position of data record in MDT 19
Position polarities 50
position switch
lead time 345
Position switch flag parameter 53
Position switch lead times 344
Position switch point 1 "Off" 213
Position switch point 1 "On" 54
Position switch signal selection 343
Position switch signal selection list 342
Position switch status word 345
Position switch switch-off thresholds 344
Position switch switch-on threshold 344
Position synchronization window 138
Position window 51
Positive position limit value 44
Positive velocity limit value 37
Power supply, configuration 333
Power supply status word 572
Power threshold Px 110
Preferred synchronization direction, secondary
master 588
Premagnetization factor 488
Premagnetization factor, encoder memory 852
Preselect parameter set command 136
Primary mode of operation 33
Probe, extended control word 399
Probe, IDN list signal selection 204
Probe 1 190
Probe 1, max. number of marker failures 386
Probe 1, number of marker failures 398
Probe 1 enable 192
Probe 1 negative latched 196
Probe 1 positive latched 195
Probe 2 190
Probe 2, max. number of marker failures 387
Probe 2, number of marker failures 398

1026/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
Probe 2 enable 193
Probe 2 negative latched 197
Probe 2 positive latched 197
Probe control parameter 115
Probe status 123
Probe value 1 negative edge 91
Probe value 1 positive edge 91
Probe value 2 negative edge 92
Probe value 2 positive edge 92
Probing cycle procedure command 117
PROFIsafe: F_Destination_Address 907
PROFIsafe: F_Parameters 908
PROFIsafe: F_Source_Address 908
Project identification 968
Properties of charging circuit 563
Pulse wire encoder offset 1, encoder memory 592
Pulse wire encoder offset 2, encoder memory 595
Pulse wire encoder status 1, encoder memory 592
Pulse wire encoder status 2, encoder memory 595

Quadrature-axis inductance of motor 940


Quadrature-axis inductance of motor, encoder
memory 848

Ramp 1 pitch 613


Ramp 2 pitch 614
Ramp reference velocity for acceleration data 207
Rated motor speed 953
Rated motor speed, encoder memory 843
Receive to receive recovery time (TMTSY) 65
Redundant holding brake: configuration 912
Redundant holding brake: status word 912
Reference cam shift 158
Reference distance 1 47
Reference distance 2 49
Reference marker pulse registered 194
Reference offset 1 105
Reference offset 2 106
Reference position for safety related reference 884
Reference radius for quadrant error correction 448
Resulting master axis position 554
Return acceleration 286
Return distance 285
Return jerk 286
Return velocity 285
Reversal clearance 52
Rotational position resolution 57
Rotor inertia 474
Rotor inertia, encoder memory 842
Rotor leakage inductance 955
Rotor leakage inductance, encoder memory 855
Rotor time constant 958
Rotor time constant, encoder memory 856
RS-232/485 Parity 994

S-0-0000, Dummy parameter 15


S-0-0001, NC cycle time (TNcyc) 15
S-0-0002, SERCOS cycle time (TScyc) 16
S-0-0003, Minimum AT transmit starting time
(T1min) 16
S-0-0004, Transmit/receive transition time
(TATMT) 17
S-0-0005, Minimum feedback acquisition time
(T4min) 17
S-0-0006, AT Transmission starting time (T1) 18
S-0-0007, Feedback acquisition starting time (T4)
18
S-0-0008, Command value valid time (T3) 19
S-0-0009, Position of data record in MDT 19
S-0-0010, Length of master data telegram 20
S-0-0011, Class 1 diagnostics 20
S-0-0012, Class 2 diagnostics 22
S-0-0013, Class 3 diagnostics 23
S-0-0014, Interface status 24
S-0-0015, Telegram type parameter 25
S-0-0016, Configuration list of AT 27
S-0-0017, IDN-list of all operation data 27
S-0-0018, IDN list of operating data for communica
tion phase 2 27
S-0-0019, IDN list of operating data for communica
tion phase 3 28
S-0-0021, IDN list of invalid operating data for com
munication phase 2 28
S-0-0022, IDN list of invalid operating data for com
munication phase 3 29
S-0-0024, Config. list of the master data telegram
29
S-0-0025, IDN-list of all procedure commands 30
S-0-0026, Configuration list signal status word 30
S-0-0027, Configuration list signal control word 31
S-0-0028, MST error counter 31
S-0-0029, MDT error counter 32
S-0-0030, Manufacturer version 32
S-0-0032, Primary mode of operation 33
S-0-0033, Secondary operation mode 1 34
S-0-0034, Secondary operation mode 2 35
S-0-0035, Secondary operation mode 3 35
S-0-0036, Velocity command value 36
S-0-0037, Additive velocity command value 37
S-0-0038, Positive velocity limit value 37
S-0-0039, Negative velocity limit value 38
S-0-0040, Velocity feedback value 38
S-0-0041, Homing velocity 39
S-0-0042, Homing acceleration 39
S-0-0043, Velocity polarity parameter 40
S-0-0044, Velocity data scaling type 41
S-0-0045, Velocity data scaling factor 42
S-0-0046, Velocity data scaling exponent 42
S-0-0047, Position command value 43
S-0-0048, Additive position command value 44
S-0-0049, Positive position limit value 44

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1027/1033


and Controls

Index
S-0-0050, Negative position limit value 45
S-0-0051, Position feedback 1 value 46
S-0-0052, Reference distance 1 47
S-0-0053, Position feedback 2 value 48
S-0-0054, Reference distance 2 49
S-0-0055, Position polarities 50
S-0-0057, Position window 51
S-0-0058, Reversal clearance 52
S-0-0059, Position switch flag parameter 53
S-0-0060, Position switch point 1 "On" 54
S-0-0076, Position data scaling type 54
S-0-0077, Linear position data scaling factor 56
S-0-0078, Linear position data scaling exponent 56
S-0-0079, Rotational position resolution 57
S-0-0080, Torque/force command value 58
S-0-0081, Additive torque/force command value 58
S-0-0082, Torque/force limit value positive 59
S-0-0083, Torque/force limit value negative 60
S-0-0084, Torque/force feedback value 61
S-0-0085, Torque/force polarity parameter 62
S-0-0086, Torque/force data scaling type 63
S-0-0087, Transmit to transmit recovery time (TA
TAT) 64
S-0-0088, Receive to receive recovery time
(TMTSY) 65
S-0-0089, MDT Transmit starting time (T2) 65
S-0-0090, Command value proceeding time
(TMTSG) 65
S-0-0091, Bipolar velocity limit value 66
S-0-0092, Bipolar torque/force limit value 66
S-0-0093, Torque/force data scaling factor 67
S-0-0094, Torque/force data scaling exponent 68
S-0-0095, Diagnostic message 68
S-0-0096, Slave arrangement (SLKN) 69
S-0-0097, Mask class 2 diagnostics 69
S-0-0098, Mask class 3 diagnostics 70
S-0-0099, C0500 Reset class 1 diagnostics 71
S-0-0100, Velocity loop proportional gain 71
S-0-0101, Velocity loop integral action time 73
S-0-0103, Modulo value 74
S-0-0104, Position loop Kv-factor 75
S-0-0106, Current loop proportional gain 1 76
S-0-0107, Current loop integral action time 1 78
S-0-0108, Feedrate override 79
S-0-0109, Motor peak current 80
S-0-0110, Amplifier peak current 80
S-0-0111, Motor current at standstill 81
S-0-0112, Amplifier nominal current 81
S-0-0113, Maximum motor speed 82
S-0-0115, Position feedback 2 type 83
S-0-0116, Feedback 1 Resolution 84
S-0-0117, Feedback 2 Resolution 85
S-0-0121, Input revolutions of load gear 86
S-0-0122, Output revolutions of load gear 86
S-0-0123, Feed constant 87
S-0-0124, Standstill window 88
S-0-0125, Velocity threshold nx 88
S-0-0126, Torque threshold Tx 89

S-0-0127, C0100 Communication phase 3 transition


check 89
S-0-0128, C5200 Communication phase 4 transition
check 90
S-0-0130, Probe value 1 positive edge 91
S-0-0131, Probe value 1 negative edge 91
S-0-0132, Probe value 2 positive edge 92
S-0-0133, Probe value 2 negative edge 92
S-0-0134, Master control word 93
S-0-0135, Drive status word 94
S-0-0138, Bipolar acceleration limit value 95
S-0-0139, C1600 Parking axis command 96
S-0-0140, Controller type 97
S-0-0141, Motor type 97
S-0-0142, Application type 98
S-0-0143, Sercos interface version 99
S-0-0144, Signal status word 99
S-0-0145, Signal control word 100
S-0-0146, C4300 NC-controlled homing procedure
command 100
S-0-0147, Homing parameter 101
S-0-0148, C0600 Drive-controlled homing proce
dure command 103
S-0-0149, C1300 Positive stop drive procedure
command 104
S-0-0150, Reference offset 1 105
S-0-0151, Reference offset 2 106
S-0-0152, C0900 Position spindle command 106
S-0-0153, Spindle angle position 107
S-0-0154, Spindle position parameter 108
S-0-0155, Friction compensation 109
S-0-0156, Velocity feedback value 2 109
S-0-0157, Velocity window 110
S-0-0158, Power threshold Px 110
S-0-0159, Monitoring window 111
S-0-0160, Acceleration data scaling type 111
S-0-0161, Acceleration data scaling factor 113
S-0-0162, Acceleration data scaling exponent 113
S-0-0163, Weight counterbalance 114
S-0-0164, Acceleration feedback value 1 114
S-0-0165, Distance-coded reference offset A 114
S-0-0166, Distance-coded reference offset B 115
S-0-0169, Probe control parameter 115
S-0-0170, Probing cycle procedure command 117
S-0-0171, C4400 Calculate displacement procedure
command 117
S-0-0172, C4500 Displacement to referenced sys
tem procedure command 118
S-0-0173, Marker position A 119
S-0-0174, Marker position B 120
S-0-0175, Offset parameter 1 121
S-0-0176, Offset parameter 2 121
S-0-0177, Absolute offset 1 121
S-0-0178, Absolute offset 2 122
S-0-0179, Probe status 123
S-0-0180, Spindle relative offset 124
S-0-0183, Velocity synchronization window 125

1028/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
S-0-0185, Length of the configurable data record in
the AT 125
S-0-0186, Length of the configurable data record in
the MDT 126
S-0-0187, List of configurable data in the AT 126
S-0-0188, List of configurable data in the MDT 127
S-0-0189, Following distance 127
S-0-0190, C4200 Drive-controlled oscillation com
mand 128
S-0-0191, C1500 Cancel reference point procedure
command 128
S-0-0192, IDN-list of backup operation data 129
S-0-0193, Positioning Jerk 130
S-0-0195, Acceleration feedback value 2 130
S-0-0197, C3300 Set coordinate system procedure
command 131
S-0-0198, Initial coordinate value 131
S-0-0199, C3400 Shift coordinate system procedure
command 131
S-0-0201, Motor warning temperature 132
S-0-0204, Motor shutdown temperature 132
S-0-0206, Drive on delay time 133
S-0-0207, Drive off delay time 134
S-0-0208, Temperature data scaling type 134
S-0-0213, Oscillation speed 135
S-0-0214, Oscillation offset speed 135
S-0-0215, Oscillation cycle time 135
S-0-0216, C4100 Switch parameter set command
136
S-0-0217, Preselect parameter set command 136
S-0-0219, IDN-list of parameter set 137
S-0-0222, Spindle positioning speed 137
S-0-0228, Position synchronization window 138
S-0-0254, Current parameter set 139
S-0-0256, Multiplication 1 (motor encoder) 139
S-0-0257, Multiplication 2 (optional encoder) 139
S-0-0258, Target position 140
S-0-0259, Positioning velocity 140
S-0-0260, Positioning acceleration 141
S-0-0261, Coarse position window 142
S-0-0262, C07_x Load defaults procedure com
mand 142
S-0-0263, C2300 Load working memory procedure
command 143
S-0-0264, C2200 Backup working memory proce
dure command 144
S-0-0265, Language selection 144
S-0-0267, Password 145
S-0-0269, Storage mode 146
S-0-0270, Selected IDN list of operation data to
backup 146
S-0-0273, Maximum drive off delay time 147
S-0-0275, Coordinate offset value 148
S-0-0277, Position feedback 1 type 148
S-0-0278, Maximum travel range 150
S-0-0279, IDN-list of password-protected operation
data 150
S-0-0282, Positioning command value 151

S-0-0283, Current coordinate offset 152


S-0-0284, Secondary operation mode 4 152
S-0-0285, Secondary operation mode 5 153
S-0-0286, Secondary operation mode 6 153
S-0-0287, Secondary operation mode 7 154
S-0-0292, List of all operating modes 155
S-0-0293, C2400 Selectively backup working mem
ory procedure command 157
S-0-0298, Reference cam shift 158
S-0-0299, Home switch offset 159
S-0-0301, Allocation of real-time control bit 1 159
S-0-0303, Allocation of real-time control bit 2 160
S-0-0305, Allocation of real-time status bit 1 161
S-0-0307, Allocation of real-time status bit 2 161
S-0-0315, Positioning velocity > nLimit 162
S-0-0323, Target position outside of travel range
163
S-0-0326, Parameter checksum 163
S-0-0327, IDN list of checksum parameter 164
S-0-0328, Assign list signal status word 164
S-0-0329, Assign list signal control word 165
S-0-0330, Message 'n_actual = n_command' 165
S-0-0331, Status 'n_feedback = 0' 166
S-0-0332, Message 'nactual < nx' 166
S-0-0333, Message 'T >= Tx' 167
S-0-0334, Message 'T >= Tlimit' 167
S-0-0335, Message 'n command > n limit' 168
S-0-0336, Message In position 168
S-0-0337, Message 'P >= Px' 169
S-0-0338, Message In target position 169
S-0-0341, Status "In coarse position" 170
S-0-0342, Status "Target position attained" 170
S-0-0343, Status "Interpolator halted" 171
S-0-0346, Positioning control word 171
S-0-0347, Velocity error 173
S-0-0348, Acceleration feedforward gain 174
S-0-0349, Jerk limit bipolar 175
S-0-0359, Positioning deceleration 176
S-0-0360, Data container A: command value 1 177
S-0-0362, Data container A: list index command val
ues 177
S-0-0364, Data container A: feedback value 1 178
S-0-0366, Data container A: list index feedback val
ues 178
S-0-0368, Data container A: addressing 179
S-0-0370, Data container A: configuration list com
mand value-1 179
S-0-0371, Data container A: configuration list feed
back value-1 180
S-0-0372, Drive Halt acceleration bipolar 181
S-0-0375, List of diagnostic numbers 181
S-0-0378, Absolute encoder range of motor encod
er 182
S-0-0379, Absolute encoder range of optional en
coder 182
S-0-0380, DC bus voltage 183
S-0-0382, DC bus power 183
S-0-0383, Motor temperature 183

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1029/1033


and Controls

Index
S-0-0384, Amplifier temperature 184
S-0-0386, Active position feedback value 184
S-0-0390, Diagnostic message number 185
S-0-0391, Monitoring window feedback 2 185
S-0-0393, Command value mode 186
S-0-0398, IDN list of configurable data in signal sta
tus word 188
S-0-0399, IDN list of configurable data in the signal
control word 188
S-0-0400, Home switch 189
S-0-0401, Probe 1 190
S-0-0402, Probe 2 190
S-0-0403, Position feedback value status 191
S-0-0404, Position command value status 192
S-0-0405, Probe 1 enable 192
S-0-0406, Probe 2 enable 193
S-0-0407, Homing enable 193
S-0-0408, Reference marker pulse registered 194
S-0-0409, Probe 1 positive latched 195
S-0-0410, Probe 1 negative latched 196
S-0-0411, Probe 2 positive latched 197
S-0-0412, Probe 2 negative latched 197
S-0-0413, Bit number allocation of real-time control
bit 1 198
S-0-0414, Bit number allocation of real-time control
bit 2 199
S-0-0415, Bit number allocation of real-time status
bit 1 199
S-0-0416, Bit number allocation of real-time status
bit 2 200
S-0-0417, Positioning velocity threshold in modulo
mode 200
S-0-0418, Target position window in modulo mode
201
S-0-0419, Positioning command acknowledge 201
S-0-0420, C0400 Activate parameterization level 1
procedure command 202
S-0-0422, C0200 Exit parameterization level proce
dure command 202
S-0-0423, IDN-list of invalid op. data for parameter
ization level 203
S-0-0424, Status parameterization level 203
S-0-0426, Signal select probe 1 204
S-0-0427, Signal select probe 2 204
S-0-0428, Probe, IDN list signal selection 204
S-0-0430, Effective target position 205
S-0-0437, Positioning status word 206
S-0-0446, Ramp reference velocity for acceleration
data 207
S-0-0447, Command Set absolute measuring 208
S-0-0448, Control word for setting absolute meas
uring 208
S-0-0450, Data container A: command value 2 209
S-0-0451, Data container A: command value 3 210
S-0-0452, Data container A: command value 4 210
S-0-0453, Data container A: command value 5 211
S-0-0454, Data container A: command value 6 211
S-0-0455, Data container A: command value 7 212

S-0-0456, Data container A: command value 8 212


S-0-0460, Position switch point 1 "Off" 213
S-0-0480, Data container A: feedback value 2 213
S-0-0481, Data container A: feedback value 3 213
S-0-0482, Data container A: feedback value 4 214
S-0-0483, Data container A: feedback value 5 214
S-0-0484, Data container A: feedback value 6 215
S-0-0485, Data container A: feedback value 7 215
S-0-0486, Data container A: feedback value 8 216
S-0-0490, Data container A: configuration list com
mand value 2 216
S-0-0491, Data container A: configuration list com
mand value 3 217
S-0-0492, Data container A: configuration list com
mand value 4 217
S-0-0493, Data container A: configuration list com
mand value 5 218
S-0-0494, Data container A: configuration list com
mand value 6 219
S-0-0495, Data container A: configuration list com
mand value 7 219
S-0-0496, Data container A: configuration list com
mand value 8 220
S-0-0500, Data container A: configuration list feed
back value 2 220
S-0-0501, Data container A: configuration list feed
back value 3 221
S-0-0502, Data container A: configuration list feed
back value 4 221
S-0-0503, Data container A: configuration list feed
back value 5 222
S-0-0504, Data container A: configuration list feed
back value 6 223
S-0-0505, Data container A: configuration list feed
back value 7 223
S-0-0506, Data container A: configuration list feed
back value 8 224
S-0-0520, Control word of axis controller 224
S-0-0521, Status word of position loop 225
S-0-0531, Checksum of backup operation data 226
S-0-0822, Torque/force ramp 227
S-0-0823, Torque/force ramp time 228
S-0-0824, Message torque/force command value
reached 229
S-0-0826, Torque/force window 230
S-0-1001, SERCOS III: NC cycle time (TNcyc) 230
S-0-1002, SERCOS III: SERCOS cycle time
(TScyc) 231
S-0-1003, SERCOS III: allowed number telegram
failures 232
S-0-1005, SERCOS III: Minimum feedback acquisi
tion time (T5) 232
S-0-1006, SERCOS III: AT transmission starting
time (T1) 233
S-0-1007, SERCOS III: Feedback acquisition start
ing time (T4) 233
S-0-1008, SERCOS III: Command value valid time
(T3) 234

1030/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
S-0-1009, SERCOS III: RTC offset in MDT 234
S-0-1010, SERCOS III: MDT lengths 235
S-0-1011, SERCOS III: RTC offset in AT 236
S-0-1012, SERCOS III: AT lengths 236
S-0-1013, SERCOS III: SVC offset in MDT 237
S-0-1014, SERCOS III: SVC offset in AT 238
S-0-1015, SERCOS III: ring delay 238
S-0-1016, SERCOS III: slave delay (SYNCCNT-P,
SYNCCNT-S) 239
S-0-1017, SERCOS III: IP channel transmission
starting time 239
S-0-1019, Master communication: MAC address
240
S-0-1020, Master communication: IP address 240
S-0-1021, Master communication: network mask
241
S-0-1022, Master communication: gateway ad
dress 242
S-0-1023, SERCOS III: SYNC jitter 243
S-0-1024, SERCOS III: ring control 244
S-0-1025, SERCOS III: ring status 244
S-0-1026, SERCOS III: hardware code 245
S-0-1028, SERCOS III: MST error counter 246
S-0-1029, SERCOS III: MDT error counter 247
S-0-1030, SERCOS III: AT error counter 247
S-0-1040, Drive address of master communication
248
S-0-1095, SERCOS III: diagnostic message 249
S-0-1134, SERCOS III: Master control word 250
S-0-1135, SERCOS III: Drive status word 250
Safety instructions for electric drives 1
Safety rel. hold. sys.: dur. test torque injection br.
check 917
Safety related deceleration/acceleration ramp 1
893
Safety related deceleration/acceleration ramp 2
898
Safety related deceleration/acceleration ramp 3
901
Safety related deceleration/acceleration ramp 4
904
Safety related end position, negative 887
Safety related end position, positive 886
Safety related holding system: nominal load 914
Safety related holding system: time interval brake
check 914
Safety related holding system: torque/force con
stant 915
Safety related holding system: travel range brake
check 916
Safety related limited absolute position 1, negative
892
Safety related limited absolute position 1, positive
891
Safety related limited absolute position 2, negative
896
Safety related limited absolute position 2, positive
895

Safety related limited increment 1 892


Safety related limited increment 2 897
Safety related limited increment 3 900
Safety related limited increment 4 903
Safety related maximum speed 886
Safety related monitored deceleration 906
Safety related reduced speed 1 893
Safety related reduced speed 2 897
Safety related reduced speed 3 900
Safety related reduced speed 4 903
Safety technology absolute offset 888
Safety technology commissioning identifier 867
Safety technology configuration 867
Safety technology control word, channel 1 870
Safety technology device identifier 863
Safety technology - drive off delay time 916
Safety technology field bus configuration 909
Safety technology field bus control word 910
Safety technology field bus status word 911
Safety technology firmware code 861
Safety technology I/O configuration list, channel 2
870
Safety technology operating status 872
Safety technology password 864
Safety technology password level 865
Safety technology status word, channel 1 873
Scaling of stall current limit 486
Scaling of stall current limit, encoder memory 852
Search mode: finding point slip factor 509
Search mode: search current factor 509
Secondary operation mode 1 34
Secondary operation mode 2 35
Secondary operation mode 3 35
Secondary operation mode 4 152
Secondary operation mode 5 153
Secondary operation mode 6 153
Secondary operation mode 7 154
Selected IDN list of operation data to backup 146
Selected safety technology operating status 874
Selection of functional packages 827
Selection primary master 589
SERCOS cycle time (TScyc) 16
SERCOS III: allowed number telegram failures 232
SERCOS III: AT error counter 247
SERCOS III: AT lengths 236
SERCOS III: AT transmission starting time (T1)
233
SERCOS III: Command value valid time (T3) 234
SERCOS III: diagnostic message 249
SERCOS III: Drive status word 250
SERCOS III: error counter Port-1 822
SERCOS III: error counter Port-2 823
SERCOS III: Feedback acquisition starting time
(T4) 233
SERCOS III: hardware code 245
SERCOS III: IP channel transmission starting time
239
SERCOS III: Master control word 250

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1031/1033


and Controls

Index
SERCOS III: MDT error counter 247
SERCOS III: MDT lengths 235
SERCOS III: Minimum feedback acquisition time
(T5) 232
SERCOS III: MST error counter 246
SERCOS III: NC cycle time (TNcyc) 230
SERCOS III: ring control 244
SERCOS III: ring delay 238
SERCOS III: ring status 244
SERCOS III: RTC offset in AT 236
SERCOS III: RTC offset in MDT 234
SERCOS III: SERCOS cycle time (TScyc) 231
SERCOS III: slave delay (SYNCCNT-P, SYNCCNTS) 239
SERCOS III: SVC offset in AT 238
SERCOS III: SVC offset in MDT 237
SERCOS III: SYNC jitter 243
Sercos interface version 99
Serial number, motor 831
Set switchable 13
Signal control word 100
Signal select probe 1 204
Signal select probe 2 204
Signal status word 99
Slave arrangement (SLKN) 69
Slave drive feed travel 358
Slip compensation factor 508
Slip increase 487
Smoothing of actual position value 3 of measuring
encoder 419
Speed loop smoothing time constant 254
Speed loop smoothing time constant, encoder mem
ory 842
Spindle angle position 107
Spindle positioning speed 137
Spindle position parameter 108
Spindle relative offset 124
Square characteristic: lowering factor 510
SSI control parameter 581
Stall protection loop integral action time 507
Stall protection loop proportional gain 507
Standstill window 88
Standstill window for safety related direction of mo
tion 884
Starting torque for releasing motor holding brake
497
Start position probe function 1 active 385
Start position probe function 2 active 382
Stator leakage inductance 954
Stator leakage inductance, encoder memory 855
Stator resistance 960
Stator resistance, encoder memory 844
Status 'n_feedback = 0' 166
Status "In coarse position" 170
Status "Interpolator halted" 171
Status "Target position attained" 170
Status of measuring encoder 420
Status parameterization level 203

Status word for synchronous operating modes 312


Status word of axis controller 500
Status word of current controller 278
Status word of position loop 225
Status word of velocity control mode 618
Status word torque/current limit 453
Storage mode 146
Switching frequency of the power output stage 253
Synchroniz. window for shortest distance, secon
dary master 588
Synchronization, master axis synchronization
range 531
Synchronization, master axis synchronous position
530
Synchronization acceleration 347
Synchronization acceleration, secondary master
587
Synchronization completed 352
Synchronization direction 354
Synchronization divisions per command cycle slave
axis 541
Synchronization init window for modulo format 352
Synchronization mode 354
Synchronization mode, secondary master 586
Synchronization velocity 348
Synchronization velocity, secondary master 587
Synchronous position command value 555
Synchronous velocity 558
System time 380
System time error code 382
System time error memory 381

Table of path velocities for quadrant error correc


tion 449
Table of velocity pulse for quadrant error correction
449
Target position 140
Target position outside of travel range 163
Target position window in modulo mode 201
Telegram type parameter 25
Temperature data scaling type 134
Temperature sensor 475
Temperature sensor, encoder memory 846
Temperature sensor characteristic 476
Test frequency for angle acquisition 472
Test torque for releasing motor holding brake 496
Thermal drive load 346
Thermal operating data, motor 829
Thermal short-time overload of winding 954
Thermal short-time overload of winding, encoder
memory 850
Thermal time constant of motor 952
Thermal time constant of motor, encoder memory
850
Thermal time constant of winding 951

1032/1033 Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Index
Thermal time constant of winding, encoder memo
ry 849
Time interval brake check 499
Time interval for dynamization of safety function se
lection 879
Time interval of forced dynamization 322
Time stamp for list of diagnostic message numbers
323
Tolerance time transition from normal operation
877
Tolerance time transition from safety rel. oper. 881
Tolerance window for safety related homing proce
dure 883
Torque/Force command smoothing time constant
369
Torque/force command value 58
Torque/force constant 282
Torque/force constant, encoder memory 843
Torque/force data scaling exponent 68
Torque/force data scaling factor 67
Torque/force data scaling type 63
Torque/force feedback value 61
Torque/force limit value negative 60
Torque/force limit value positive 59
Torque/force peak limit 325
Torque/force polarity parameter 62
Torque/force ramp 227
Torque/force ramp time 228
Torque/force window 230
Torque-generating current, actual value 275
Torque-generating current, command value 271
Torque-generating voltage, actual value 288
Torque of holding brake 494
Torque of motor holding brake, encoder memory
845
Torque threshold Tx 89
Transmission length SERCOS interface 946
Transmit/receive transition time (TATMT) 17
Transmit to transmit recovery time (TATAT) 64
Travel range limit parameter 314
Travel range limit switch inputs 396
Type of construction of motor 937
Type of position encoder for measuring encoder
418

Undervoltage threshold 326


Unit 12
Upper limit of velocity masking window 617

Validity check 12
Vel. cont. loop filter: center frequency of band-stop
filter 603
Velocity command filter 625
Velocity command value 36
Velocity control loop: acceleration feedforward 605

Velocity control loop: average value filter clock 604


Velocity control loop filter: bandwidth of band-stop
filter 602
Velocity control loop filter: filter type 600
Velocity control loop filter: limit frequency of low
pass 601
Velocity data scaling exponent 42
Velocity data scaling factor 42
Velocity data scaling type 41
Velocity error 173
Velocity feedback value 38
Velocity feedback value 2 109
Velocity feedforward actual value 456
Velocity feedforward evaluation 272
Velocity loop integral action time 73
Velocity loop integral-action time, encoder memory
832
Velocity loop proportional gain 71
Velocity loop proportional gain, encoder memory
832
Velocity mix factor feedback 1 & 2 600
Velocity polarity parameter 40
Velocity synchronization window 125
Velocity threshold for safety related halt 885
Velocity threshold nx 88
Velocity time range for quadrant error correction
448
Velocity window 110
Version of data structure in encoder memory 860
Virtual master axis, actual position value 547
Virtual master axis, actual velocity value 547
Virtual master axis, command value mode 552
Virtual master axis, effective target position 551
Virtual master axis, modulo value 546
Virtual master axis, positioning acceleration 553
Virtual master axis, positioning command value
550
Virtual master axis, positioning control word 548
Virtual master axis, positioning deceleration 553
Virtual master axis, positioning jerk 583
Virtual master axis, positioning status 551
Virtual master axis, positioning velocity 553
Virtual master axis, positioning window 582
Virtual master axis, positioning window shortest dis
tance 554
Virtual master axis, scaling type 545
Virtual master axis, standstill window 583
Virtual master axis, velocity threshold positioning
584
Voltage boost 506
Voltage loop integral action time 491
Voltage loop intergral action time, encoder memory
853
Voltage loop proportional gain 490
Voltage loop proportional gain, encoder memory
853

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG 1033/1033


and Controls

Index

Weight counterbalance 114

Bosch Rexroth AG | Electric Drives


and Controls

Rexroth IndraDrive | Parameter Description

Parameter Description | Rexroth IndraDrive

Notes

Electric Drives | Bosch Rexroth AG


and Controls

Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 (0)93 52-40-50 60
Fax
+49 (0)93 52-40-49 41
service.svc@boschrexroth.de
www.boschrexroth.com

R911297317

Printed in Germany
DOK-INDRV*-GEN-**VRS**-PA04-EN-P

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