Bosch Rexroth IndraDrive MPH-02 Functional Description page 369

MPH-02, MPB-02, MPD-02
Parameter Setting
Definition
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
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)
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
Fig. 7-36: Example: position-dependent block advance (mode 2)
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.
c) Block transition with intermediate stop
• P-0-4019, Positioning block mode = 41h
→ absolute block with sequential block
• P-0-4019, Positioning block mode = 42h
→ relative block with sequential block
In this mode the drive positions at the target position of the start block.
Once the position command value is at the target position, the sequential
block is automatically started without a new start signal having been given
externally.
Another operating mode is switching when overrunning the target position
with intermediate stop.
Operating Modes
target
position
block 1
positioning block 01
01 positioning block 02
01
t
R
communication, positioning block
7-63
target
position
block 2
t
DK000033v02_en.fh7