Bosch Rexroth IndraDrive MPH-02 Functional Description page 364

7-58
Operating Modes
Reference Position
Parameter Setting
Relative Positioning Block with Residual Path Storage After
Switching Drive Controller Control Voltage Off and On
If an absolute encoder is used the incremental dimension reference can
be retained after switching control voltage off and on. The previously
calculated target position is stored at power shutdown. The rest of the
distance is traveled after the interrupted relative positioning block with
residual path storage is activated.
If a single-turn encoder is used, the residual path is rejected and
positioning continues at the actual position.
The position command value at the last "end position reached"
(position = 100) message is used as the reference position.
Note: If a positioning block is not accepted, the drive behaves as if
the positioning block had not been started.
Infinite Travel in Positive/Negative Direction
If an axis is to be moved with defined velocity, acceleration and jerk
without a specific target position, the travel block mode "Travelling in
positive direction" or "Travelling in negative direction" must be specified.
The drive moves in the indicated direction until the start signal is reset or
one of the position limit values or the travel range limit switch is reached.
The target position set is irrelevant in this positioning mode.
• P-0-4019, Positioning block mode = 04h
→ travel in positive direction
• P-0-4019, Positioning block mode = 08h
→ travel in negative direction
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P