Bosch Rexroth IndraDrive MPH-02 Functional Description page 434

8-2
Drive Functions
Quick Stop in Position Control
Shutdown in Velocity Control
The kind of shutdown, in the case of "Drive Halt", depends on the
operating mode active before.
In position control shutdown is carried out using the values of the
acceleration in S-0-0372, Drive Halt acceleration bipolar and of the jerk
in S-0-0349, Jerk limit bipolar, when a position control mode was active
before.
Operating modes with internal position control are:
• position control with cyclic command value input
• drive-internal interpolation
• drive-controlled positioning (incl. jog mode)
control word
(P-0-0116; bit 13)
v
standstill window
(S-0-0124)
diagnostic
AF
message
acknow-
ledgment
"Drive Halt"
(P-0-0115; bit 4)
S-0-0349: jerk limit bipolar
S-0-0372: Drive Halt acceleration bipolar
Fig. 8-1: Principle of "Drive Halt" with position control mode active before
Note: Position-controlled shutdown is carried out with position
control with lag error, if an operating mode that also contained
position control with lag error was active before. If not, the
function is carried out with lagless position control.
If the value in parameter S-0-0372, Drive Halt acceleration
bipolar equals "0", the axis does not stop.
When the operating mode "velocity control" or "torque/force control" was
active before, shutdown is carried out in velocity control using the value in
parameter S-0-0372, Drive Halt acceleration bipolar.
Note: If the contents of S-0-0372, Drive Halt acceleration bipolar
equals "0", deceleration is carried out at the current limit.
MPH-02, MPB-02, MPD-02
activation "Drive Halt" (AH)
S-0-0349
S-0-0372
AH
t
1
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
t
t
AF
t
t
1
t
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