Bosch Rexroth IndraDrive MPH-02 Functional Description page 405

MPH-02, MPB-02, MPD-02
Generating the Synchronous
Velocity Command Value
Synchronization Process
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Note: Only the function block specific to the velocity synchronization
mode is described in detail below. The detailed descriptions of
the other function blocks are contained in section "Basic
Functions of the Synchronization Modes".
The synchronous velocity command value (dx
the selected master axis polarity (P-0-0108, Master drive polarity) and
the scaling type that was set (S-0-0044, Velocity data scaling type),
using the following equations:
± ∆
dXsync = ( P - 0 - 0053
dx : synchronous velocity command value
sync
Fig. 7-76: Generating the synchronous velocity command value with rotary
scaling
± ∆ +
dXsync = ( P - 0 - 0053
dx : synchronous velocity command value
sync
Fig. 7-77: Generating the synchronous velocity command value with linear
scaling
Note: As a standard, one master axis revolution is fixed at
20
2 increments. This means that the LSB of the master axis
position corresponds to 2
Synchronization with Velocity Synchronization
The synchronization process is a drive-controlled motion with the aim of
synchronizing the axis to the master axis velocity. The slave axis is
velocity-synchronous when the following condition has been fulfilled:
dx = P-0-0048 – S-0-0037
sync
Upon activating the operating mode, a velocity adjustment is first
executed.
This means that the drive either accelerates or decelerates from the
current actual velocity at the time of activation to the synchronous velocity.
The drive generates the synchronous velocity by differentiating the master
axis position:
∆(P-0-0053 + P-0-0054) or ∆(P-0-0052 + P-0-0054)
After the synchronous velocity has been reached, another change of the
synchronous velocity
Synchronization mode.
Operating Modes
) is calculated in terms of
sync
P - 0 - 0157
+
P - 0 - 0054) * * (1
P - 0 - 0156
P - 0 - 0157
+
P - 0 - 0054) * * (1 P
P - 0 - 0156
-20
master axis revolutions.
is processed depending
7-99
1
+ − −
P 0 0083) *
20
2
P - 0 - 0159
− −
0 0083) *
20
2
on P-0-0155,