Bosch Rexroth IndraDrive MPH-02 Functional Description page 179

MPH-02, MPB-02, MPD-02
Internal Resolution of the
Position Data
Real Resolution of Rotary
Encoders
Real Resolution of Linear
Encoders
Configuring the Controller
Configuring the Encoder
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Motor, Mechanical Axis System, Measuring Systems
The position control itself works with the resolution displayed in P-0-0129,
Internal position data format. The value refers to one motor revolution
(rotary motor) or one pole pair distance (linear motor) and is limited to 2
In addition, it is influenced by the setting in parameter S-0-0278,
Maximum travel range:
− − =
P 0 0129
number_of_
P-0-0129: Internal position data format
S-0-0278: Maximum travel range (± travel range!)
Fig. 5-72: Drive-internal resolution of the position data for rotary motors
− −
P 0 0129
P-0-0129: Internal position data format
S-0-0278: Maximum travel range (± travel range!)
P-0-0018: pole pair distance of linear motors
Fig. 5-73: Drive-internal resolution of the position data for linear motors
The lower value from drive-internal encoder resolution and "maximum
encoder resolution after digitalization" is the real resolution of the position
data of a rotary encoder.
The higher value from drive-internal encoder resolution and "maximum
encoder resolution after digitalization" is the real resolution of the position
data of a linear encoder.
Note: The "maximum encoder resolution after digitalization" is the
maximum possible, real encoder resolution. It is limited on the
hardware side! If the number of encoder division periods over
the travel distance of the axis is accordingly high, the real
encoder resolution can also be lower!
Notes on Commissioning
The optional interfaces have to be assigned to the encoder connection:
• P-0-0077, Assignment motor encoder->optional slot
• P-0-0078, Assignment optional encoder ->optional slot
Note: In the case of motors with encoder data memory (MHD, MKD,
MKE), P-0-0077 is automatically set correctly!
Set the motor encoder type:
• P-0-0074, Encoder type 1 (motor encoder)
Set the encoder type of the optional encoder:
P-0-0075, Encoder type 2 (optional encoder)
Set the resolution (number of lines, division period) of the motor encoder:
• S-0-0116, Feedback 1 Resolution
±
30
2
motor revolution s for _
± ∗ − −
30
2 P 0 0018
= ≤
− −
S 0 0278
5-55
28
.
≤
28
2
− −
S 0 0278
28
2