Bosch Rexroth IndraDrive MPH-02 Functional Description page 286

6-74
Drive Control
Activating the Monitor
Reaction when Exceeding Travel
Exceeding Travel Range as an
Exceeding Travel Range as a
Warning
• F6029 Positive travel limit exceeded
• F6030 Negative travel limit exceeded
• F6042 Both travel range limit switches activated
• F6043 Positive travel range limit switch activated
• F6044 Negative travel range limit switch activated
Travel Range Limit Switches
At the drive it is possible to connect and monitor 2 travel range limit
switches (Limit+, Limit-) that can be connected to the digital inputs on the
control section.
Note: The travel range limit switch inputs are polled every 2 ms so
that the assigned error reaction is started at the earliest
approx. 3 ms after the limit switch has been activated.
Monitoring for exceeding the travel range limit switches is only carried out
when the monitor was activated via bit 1 of P-0-0090, Travel range limit
parameter.
The drive reaction to exceeding the travel range can be determined via
Range bit 2 of P-0-0090, Travel range limit parameter.
When "0" is entered in bit 2 of P-0-0090, exceeding the travel range is
Error handled as an error with the reaction "velocity command value reset".
Drive behavior:
• After the velocity command value has been reset, the drive switches
off the internal drive enable and thus is torque-free.
• The "ready-for-operation" contact opens.
See also "Velocity Command Value Reset" in section "Error Reactions:
Best Possible Deceleration" in chapter "Drive Functions"
When "1" is entered in bit 2 of P-0-0090, exceeding the travel range is
handled as a warning with the reaction "velocity command value reset".
Drive behavior:
•
The drive does not switch off the internal drive enable.
•
As long as the warning condition is present, i.e. the limit switch is
activated, only such command values are accepted that lead back to
the allowed range. Checking the command values is dependent on
the active operating mode (see "Notes on Commissioning").
See also "Velocity Command Value Reset" in section "Error Reactions:
Best Possible Deceleration" in chapter "Drive Functions"
Note: Shutting down the axis using a velocity command value ramp
is not possible! Shutdown is always carried out as quickly as
possible with maximum allowed torque/force.
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P