Diagnostic Messages And Monitoring Functions - Bosch Rexroth IndraDrive MPH-02 Functional Description

7-20
Operating Modes

Diagnostic Messages and Monitoring Functions

Position Command Value
Extrapolation
F2037 Excessive position
command difference
(additive velocity command value) is set via P-0-0040, Velocity
feedforward evaluation.
This allows setting the lag error to a desired percentage value at constant
velocity.
Note: In lagless operation and with P-0-0040 = 100%, there is a
minimum lag error of "0" at constant velocity.
See also "Axis Control (Closed-Loop Operation)" in chapter "Drive
Control"
Diagnostic Status Messages
The activated "position control with cyclic command value input" mode is
displayed by one of the following diagnostic messages:
• A0102 Position mode with encoder 1,
• A0103 Position mode with encoder 2,
• A0104 Position mode lagless, encoder 1,
• A0105 Position control lagless, encoder 2
Monitoring Functions
Operating mode-specific monitoring functions/diagnostic messages are:
Monitoring for Single Position Command Value Failure
In the "position control with cyclic command value input" mode new
position command values are transmitted to the drive in every NC cycle.
The difference between the current and the last position command value
is determined and checked for plausibility.
Reasons why the monitoring function triggers:
• incorrect command values by control unit
• command value transmission error
Note: In the case of single command value failure, the position
command value is extrapolated.
Excessive Position Command Difference
When the "position control" mode was activated, the calculated velocity
required for reaching the preset position command value (S-0-0047) is
compared to S-0-0091, Bipolar velocity limit value. The NC cycle time
(TNcyc in S-0-0001) is used as the time base for converting the position
command value differences into a velocity.
If the command velocity corresponding to the preset position command
value exceeds the value in S-0-0091, the F2037 Excessive position
command difference error message is generated. In addition, the tow
involved command values are written to the following parameters:
• P-0-0010, Excessive position command value
• P-0-0011, Last valid position command value
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P