Bosch Rexroth IndraDrive MPH-02 Functional Description page 357

MPH-02, MPB-02, MPD-02
v
velocity
profile
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
Drive HALT (AH):
S-0-0134,
Master control
word (bit 13)
end position reached:
P-0-4061,
Positioning block
status word (bit 4)
in standstill:
S-0-0013,
Class 3
diagnostics (bit 1)
positioning block
acceptance:
P-0-4060 (bit 0)
S-0-0419,
Positioning command
acknowledge
positioning inputs valid
positioning acknowledgment outputs show negated status
of positioning inputs
after valid block acceptance, positioning acknowledgment outputs
show non-inverted status of positioning inputs
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Example:
Relative positioning
position = 700 (current position = 200); interrupting and restarting a
relative positioning block without residual path storage
x = 200
pos. block 01
01
interruption
t
R
Fig. 7-30: Interrupting a relative positioning block without residual path storage
Note: According to master
acceptance takes place by toggling bit 0 in S-0-0346 or by a 0-
1 edge of bit 0 in P-0-4060.
without residual
x = 350
positioning block 01
01
t
R
communication, positioning block
7-51
Operating Modes
path storage with target
S-0-0124,
Standstill
window
x = 1050
01
t
DK000028v01_en.fh7