Operating instructions

Rexroth IndraDrive Introducing the Products 1-3

DOK-INDRV*-FU*********-IB01-EN-P

Commands

Commands are used to activate and control complex functions or

monitoring features in the drive. The higher-level master can start,

interrupt or clear commands.

Each command is assigned to a parameter by means of which the

execution of the command can be controlled. During the execution of the

command the display of the control panel reads "Cx", "C" representing the

diagnostic command message and "x" representing the number of the

command.

Note: Each command that was started must be actively cleared

again.

All commands available in the drive are stored in the S-0-0025, IDN-list

of all procedure commands parameter.

There are 3 different kinds of commands:

• Drive control commands

• can cause automatic drive motion,

• can be started only when drive enable has been set,

• deactivate the active operating mode during its execution.

• Monitoring commands

• activate or deactivate monitors or functions in the drive.

• Administration commands

• carry out administration tasks,

• cannot be interrupted.

See also "Command Processing" in chapter "Master Communication"

Operating Modes

The selection of operating modes defines which command values will be

processed in which way, in order to lead to the desired drive motion. The

operating mode does not determine how these command values are

transmitted from the master to the slave.

One of the four or eight (for SERCOS) operating modes defined in

parameters is always active when the following conditions have been

fulfilled:

• control section and power section are ready for operation

• drive enable signal sees a positive edge

• drive follows command value

• "Drive Halt" function has not been activated

• no drive control command is active

• no error reaction is carried out

The display of the control panel reads "AF" when an operating mode was

activated.

Note: All implemented operating modes are stored in the S-0-0292,

List of all operating modes parameter.