Operating instructions

7-114 Commissioning and Parameterization Rexroth IndraDrive
DOK-INDRV*-FU*********-IB01-EN-P
Profile Types
IO Mode - Supported Profile Types
When a field bus interface is used for master communication, IndraDrive
controllers support the following profile types (modes):
• I/O mode positioning
• I/O mode preset velocity
• freely configurable mode (Rexroth profile type)
The table below contains an overview of the most important properties
and features of the 3 profile types:
Content of
P-0-4084, Profile
type
Master
communication
Field bus or drive
operating mode Features
Profile type: I/O mode positioning
FF82h PROFIBUS,
CANopen,
DeviceNet
I/O mode positioning
(positioning block mode,
encoder 1, lagless)
- up to 64 positioning blocks can be
controlled via field bus
- apart from control and status word,
other real-time data can be con-
figured (in P-0-4080 and P-0-4081)
- bits can be freely defined in signal
status word via function "configurable
signal status word"
Profile type: I/O mode preset velocity
FF92h PROFIBUS,
CANopen,
DeviceNet
I/O mode preset velocity - fixed velocity command values can be
controlled and ramp generator can be
operated via field bus
- apart from control and status word,
other real-time data can be con-
figured (in P-0-4080 and P-0-4081)
- bits can be freely defined in signal
status word via function "configurable
signal status word"
Profile type: freely configurable mode
FFFEh PROFIBUS,
CANopen,
DeviceNet
freely configurable mode
(default assignment is
"drive-controlled positio-
ning" with corresponding
required cyclic data)
- possible use of complete drive functionality
by free configuration of real-time data
and operating mode selection
- control and status word have a Rexroth-
specific structure
- selection suited for operation with
analog command values in
commissioning phase
FFFDh like profile FFFEh, but reduced field bus control word
(relevant for MLD applications, for example)
Fig. 7-52: Supported profile types for IndraDrive firmware
Basic Principles and Terms
The drive profile defines
• the structure of the field bus control word (P-0-4077) and of the field
bus status word (P-0-4078),
• the structure and content of real-time channel (P-0-4080, P-0-4081),
• the active operating mode (S-0-0032, S-0-0033, S-0-0034, S-0-0035)
• the drive states and their transitions (status machine of I/O mode or
Rexroth profile type).
Drive Profile