Bosch Rexroth IndraDrive MPH-02 Functional Description page 413

MPH-02, MPB-02, MPD-02
master axis
evaluation
and
processing
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Xsync = ( P
x : synchronous position command value
sync
IWZ: modulo actual value cycle
Fig. 7-84: Generating the synchronous position 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
command value processing
specific to operating mode
P-0-0777
P-0-0776
electric gear
with
fine adjust
360°/ 2
Fig. 7-85: Command value processing and command value adjustment specific
to operating mode with phase synchronization
Notes on Commissioning/Parameterization
General Parameterization
During general parameterization it is necessary to make machine-specific
presettings:
• scaling of parameter data (linear or rotary)
• S-0-0076, S-0-0077, S-0-0078 and S-0-0079 for position data
• S-0-0044, S-0-0045 and S-0-0046 for velocity data
• S-0-0160, S-0-0161 and S-0-0162 for acceleration data
See "Mechanical Axis System and Measuring Systems: Scaling of
Physical Data" in chapter "Motor, Mechanical Axis System, Measuring
Systems"
• for linear scaling with rotary motor, parameterizing the feed constant
per slave axis revolution (S-0-0123)
• parameterizing the load gear of the slave axis (S-0-0121 and
S-0-0122)
• determining
synchronization acceleration (P-0-0142)
P - - 0 0157
+ −
- - 0 7 0 75 * * (1 P
P - - 0 0156
-20
master axis revolutions.
P-0-0779
P-0-0778
S-0-0076
adjustment
position
format
20
S-0-0103 / 2
20
20
P-0-0159 / 2
the synchronization
Operating Modes
P - - 0 0159
−
0 0083) * ) % IWZ
20
2
dynam.
internal
synchron-
cmd
value
ization
DF000106v01_en.fh7
velocity (P-0-0143) and
7-107
the