Bosch Rexroth IndraDrive MPH-02 Functional Description page 205

MPH-02, MPB-02, MPD-02
Parameter Scaling
(Individually Defined)
position data, linear
position data, rotary
velocita data : LSB
a cceleratio n data
a cceleratio n data
jerk data :
Torque/Force Data
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Motor, Mechanical Axis System, Measuring Systems
As an alternative to preferred scaling it is also possible to activate
parameter scaling. For parameter scaling the least significant bit (LSB) of
the respective operating data can be individually defined.
= ∗
1)
: LSB unit scaling
=
: LSB
rotational
unit ( position data )
=
time unit
unit
=
(lin.; rot.) : LSB
(ramp time - scaling) :
unit ( position
=
LSB
time
1) ... With scaling factor unequal 1 the unit is no longer indicated as in
S-0-0076,
reference).
2) ... With rotational resolutions (S-0-0079) the results of which are not
powers of 10 of 360, the units are no longer "angular degrees" (acc.
to S-0-0076) but only "incremental" (control-dependent unit
reference).
Fig. 5-93: Defining the least significant bit (LSB) for parameter scaling
Note: The jerk data scaling is derived from the acceleration data
scaling.
Respective units of measurement and time defined in the parameters:
• S-0-0076, Position data scaling type
• S-0-0044, Velocity data scaling type
• S-0-0160, Acceleration data scaling type
Respective scaling factor and scaling exponent defined in the following
parameters:
• S-0-0077, Linear position data scaling factor position data
S-0-0078, Linear position data scaling exponent
• S-0-0045, Velocity data scaling factor
S-0-0046, Velocity data scaling exponent
• S-0-0161, Acceleration data scaling factor
S-0-0162, Acceleration data scaling exponent
For rotary position data the value, in the case of parameter scaling, for the
• S-0-0079, Rotational position resolution
has to be determined for defining the LSB.
For torque/force data there are the following basic scaling types:
• linear
• rotary
• percentage-based
∗
1) scaling
factor 10
360
∗
unit
2)
position resolution
∗ ∗
scaling
scaling factor 10
( position data )
∗
scaling
2
time unit
−
S
=
LSB
scaling factor
data )
∗
scaling factor
3
unit
but only "incrementally"
exp onent
2)
exp onent
∗
scaling exp onent
factor 10
−
0 0446
∗
scaling exp onent
10
∗
scaling exp onent
10
(control-dependent
5-81
unit