Bosch Rexroth IndraDrive MPH-02 Functional Description page 445

MPH-02, MPB-02, MPD-02
Detecting the End of the Travel
Range for Encoders With
Distance-Coded Reference
Home Switch for Selecting a
Reference Mark
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Depending on the home switch signal, there are the following drive
actions when the C0600 homing command is started:
Determined
edge reversal
(bit in S-0-0147)
positive
negative
negative
positive
Fig. 8-7: Assigning signal status and edge reversal to drive action when
starting C0600 command (for non-distance-coded measuring
system)
The drive action is completed after detecting the reference position by
shutdown and switching the actual position value to axis reference.
In the case of encoders with distance-coded reference marks, only the
status of the home switch signal is monitored by the controller to detect
the end of the travel range. The edge reversal definition doesn't have any
Marks
influence in this case!
Depending on the home switch signal, there are the following drive
actions when the C0600 homing command is started:
Determined
edge reversal
(bit in S-0-0147)
positive or
negative
positive or
negative
Fig. 8-8: Assigning signal status to drive action when starting C0600
command (for distance-coded measuring system)
The drive action is completed after detecting the reference position by
shutdown and switching the actual position value to axis reference.
If several reference mark signals can occur over the travel range of an
axis and a dedicated point is to be determined by one of the marks, a
home switch is required for selecting a reference mark (see fig.
"Recommendation for using a home switch").
Signal status of the Drive action
home switch
(bit in S-0-0400)
0 motion in reference travel direction,
("not activated") search of positive signal edge
1 motion in reference travel direction,
("not activated") search of negative signal edge
0 motion against the reference travel
("activated") direction until signal is "1", then
reversal of motion and search of
negative signal edge
1 motion against the reference travel
("activated") direction until signal is "0", then
reversal of motion and search of
positive signal edge
Signal status of Drive action
home switch
(bit in S-0-0400)
0 motion for search of dedicated point
("not activated") in reference travel direction
1 motion for search of dedicated point
("activated") against reference travel direction
8-13
Drive Functions