Bosch Rexroth IndraDrive MPH-02 Functional Description page 399

MPH-02, MPB-02, MPD-02
Synchronization Mode
"Standard" Mode
(P-0-0155, bit 0 = 0)
velocity
of slave axis
operating mode
activated
synchronization
completed
(P-0-0152, bit 0)
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Standard/Register Controller Synchronization
In the synchronous position control modes it is possible to determine, in
parameter P-0-0155, Synchronization mode, the synchronization mode
for the reaction to further changes in parameter S-0-0048, Position
command value additional after the absolute synchronization has been
reached for the first time.
In the "standard" synchronization mode all further changes in the additive
position command value are processed with the values determined in the
following parameters:
• P-0-0142, Synchronization acceleration
• P-0-0143, Synchronization velocity
• P-0-0151, Synchronization init window for modulo format
• P-0-0154, Synchronization direction
Note: The status bit "synchronization completed" is only set when
the condition P-0-0434 = S-0-0048 + x
P-0-0142
P-0-0142
0 0
step 1
1
0
1
0
synchronization
Fig. 7-72: "Standard" synchronization mode
During synchronization in the "standard" mode the command values are
monitored with regard to S-0-0091, Bipolar velocity limit value and
S-0-0138, Bipolar acceleration limit value. If the command values
exceed the limit values, the error messages F2037 Excessive position
command difference or F2039 Maximum acceleration exceeded are
generated.
Operating Modes
sync
change of additive position
command value (S-0-0048)
P-0-0143
P-0-0142
P-0-0143
step 2
reaction
to change of
additive pos. cmd value
DK000045v01_en.fh7
7-93
has been fulfilled.
t
t
t