Parameter Functions
Description
This function group contains functions to read and write parameters.
Sercos automation bus specifies S- and P-parameters that basically include all information to operate a sercos device. S-parameters are parameters that are sercos specific parameters while P-parameters are those which are product specific, which means vendos specific, but their structure is sercos conform.
While S- and P-parameters are very drive centric, IndraMotion XLC/MLC provides A-, C-, K-, M-, N- and O-parameters which are related to axis, control, kinematics, touch-probe, CAM switches and oscilloscop functions and properties. More information about parameters can be found in the IndraWorks help. Several S- and P-parameters are mapped to these parameters.
A parameter is basically a quantity that serves to relate functions and variables. Every parameter consists of up to seven elements.
Parameter structure
Element Description Requirement
No.
-------------------------------------------------------------
1 IDN global unique identifier,
mandatory
2 Name name of parameter, optional
3 Attribute properties of parameter
(attribute), changeable,
mandatory
4 Unit unit of parameter, changeable,
optional
5 Minimum input value minimum value of operation data,
changeable, optional
6 Maximum input value maximum value of operation data,
changeable, optional
7 Operation data operation data, changeable,
mandatoryIn a parameter, elements 1, 3 and 7 are mandatory and shall always be present. Elements 2, 4, 5, and 6 are optional and may be supported depending on configuration. Elements 5 and 6 are mandatory for cycle time parameters only. All parameters are assigned to IDNs.
Parameter element IDN
Bit No. Short description Description
-------------------------------------------------------------
40-63 Reserved –
32-39 EIDN types Extend standard or product
specific IDN
(e.g. C-x-xxxx, A-x-xxxx,...)
31-24 Structure instance (SI) Number of structure instance
(SI)
23-16 Structure element (SE) 0-127: Standard SE
128-255: Product-specific SE
15 Standard or Product 0: Standard IDN (S-x-xxxx)
specific IDN (S or P) 1: Product-specific IDN
(P-x-xxxx)
14-12 Parameter sets sercos specifies IDNs with
parameter set 0 only.
0-11 Data block or Data block number (if SI = SE = 0)
Function group Function group (if SI or SE is not 0)Parameter Attribute
Bit Short description Description
No.
-------------------------------------------------------------
31 – Reserved
30 Write protected in CP4 0: Operation data is writable
1: Operation data is write
protected
29 Write protected in CP3 0: Operation data is writable
1: Operation data is write
protected
28 Write protected in CP2 0: Operation data is writable
1: Operation data is write
protected
24-27 Decimal point 0000..1111: No place to 15
places after decimal point
(maximum)
23 – Reserved
20-22 Data type and 000: Data type: Binary number;
display format Display format: Binary
001: Data type: Unsigned integer;
Display format: Unsigned decimal
010: Data type: Integer; Display
format: Signed decimal
011: Data type: Unsigned integer;
Display format: Hexadecimal
100: Data type: Extended character
set; Display format: UTF8
101: Data type: Unsigned integer;
Display format: IDN
110: Data type: Floating-point
number; Display format: Signed
decimal with exponent
111: Data type: sercos time;
Display format: 4 octets seconds
and 4 octets nano seconds, starts
with 1.1.1970 computed in UTC
19 Command 0: Parameter is not a procedure
command
1: Parameter is a procedure
command
16-18 Data length 000: Reserved
001: Operation data is two octets
long
010: Operation data is four octets
long
011: Operation data is eight octets
long
100: Variable length with one-octet
data strings
101: Variable length with two-octet
data strings
110: Variable length with four-octet
data strings
111: Variable length with eight-octet
data strings
0-15 Conversion factor The conversion factor is an unsigned
integer used to convert numeric data
to display format. The conversion
factor shall be set to a value of 1
when it is not needed for data
display.CP2, CP3, CP4 mean sercos communication phase. CP2 is the communication mode in which most of the parameter setting can be done as the sercos bus is in non-cyclic mode. CP4 is the cyclic communication mode in which most of the parameter modification is no longer possible. Sercos communication phases can be changed by use of the function m4MSystemSetTargetMode.
More Information
For further information, refer to the mlpiCore documentation: ParameterLib
Copyright
Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0
