6.3 Programming
1. Variable declaration
In the
variable declaration, the variables which are used are created and
assigned to the inputs and outputs.
Fig.6-9: Variable Declaration
2. Error detection
When the function for error reaction has been activated via "bEna‐
ble" (P‑0‑1390, bit 0, %IX0.0), "bActive" is set (P‑0‑1410, bit 0, %QX0.0)
in the first step (Step 0). If a new drive error is then detected (P‑0‑0115, 0
→ 1 in bit 13 and S‑0‑0390 → F2xxx/F3xxx/F4xxx) to which a reaction is to
take place (P‑0‑1370, bit 1 to 3), the function blocks required for the re‐
action and "bInPos" (P‑0‑1410, bit 1, %QX0.1) are reset and the program
jumps to the next step.
Fig.6-10: Step 0: Error Detection
Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
44/97
Intelligent Error Reaction
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