Bosch Rexroth IndraDrive MPH-02 Functional Description page 370

7-64
Operating Modes
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
In this case, the drive is decelerated to speed "0" at the target position
and then accelerated to the new positioning velocity.
Note: Advance takes place when the internal command value
generator has reached the target position. With very low jerk
values the resulting dwell time is relatively long.
v
positioning block 01
positioning block 01
01
t
R
Fig. 7-37: Example: sequential block advance for target position with
intermediate stop
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.
MPH-02, MPB-02, MPD-02
target position target position
block 1 block 2
positioning block 02
DK000034v01_en.fh7
communication, positioning block
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
S-0-0124,
Standstill
window
t