Bosch Rexroth IndraDrive MPH-02 Functional Description page 347

MPH-02, MPB-02, MPD-02
Features
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
• parameterization of up to 64 positioning blocks; each with target
position/travel distance, velocity, acceleration, deceleration and jerk
• defined block acceptance by toggling bit 0 in S-0-0346 with reaction
time t = t
R_Strobe position
Note: With field bus drives, the I/O mode and control via the parallel
interface are exceptions. In these cases acceptance takes place by a
0-1 edge of bit 0 in P-0-4060.
• block selection and acknowledgment via separate parameters
(→handshake principle)
• positioning modes to be freely parameterized
• relative positioning
• absolute Positioning
• infinite travel (positive or negative)
• single-block or sequential block mode with different conditions for
advance:
• block advance with switch cams
• block advance at defined position value
block transition with "old" or "new" positioning velocity
• positioning while taking command value mode into account
(shortest distance, positive direction, ...)
• residual path processing can be activated (→ no loss of incremental
dimension)
• "slow travel" mode can be activated
• velocity override to be set
Fields of Application
Sequential block processing allows executing several positioning blocks
processed in direct sequence without having to give a new start signal
each time. Typical fields of application are:
• There is none or only a very simple higher-level control unit available
and control is realized via digital I/Os only or a field bus control word
(I/O mode with field bus interface).
• There are quick reaction times or block advances required. The
required motion profiles can be represented in the drive by the
maximum possible 64 positioning blocks.
• There are positioning processes required which cover long distances
at high speeds (rapid traverse) and then position at the end position at
low speed without any intermediate stops; for example:
• taking up or putting down transport goods in handling robots
• execution of joining processes in assembly facilities
Pertinent Parameters
• S-0-0138, Bipolar acceleration limit value
• S-0-0259, Positioning Velocity
• S-0-0346, Positioning control word
• S-0-0393, Command value mode
• S-0-0419, Positioning command acknowledge
• S-0-0430, Effective target position
• S-0-0437, Positioning status word
7-41
Operating Modes