Bosch Rexroth IndraDrive MPH-02 Functional Description page 456

8-24
Drive Functions
"Stop" After Detecting the
Dedicated Point
"Positioning" After Detecting the
Dedicated Point
Settings for Axis-Side Position
Data Reference of Actual
Position Values
Identifying the
Dedicated Point
If the axis, after execution of command C0600, is to be at the reference
point (S-0-0052/S-0-0054), set the respective bit in S-0-0147, Homing
parameter.
When "stop after detecting the dedicated point" (default setting) was set in
S-0-0147, Homing parameter, the drive stops the axis after the
dedicated point was detected.
If the axis, after the dedicated point was detected, is to position to the
reference point of the encoder selected in S-0-0147, this too has to be
determined in parameter S-0-0147. The position can be preset via
S-0-0052, Reference distance 1 or S-0-0054, Reference distance 2.
Possible property damage at the installation, if
the reference point is outside the allowed travel
range and the position limit hasn't been
activated yet!
CAUTION
⇒ Make sure that reference point is within the travel
range and activate the position limit!
Notes on Commissioning for Relative Encoders with
Distance-Coded Reference Marks
To establish the position data reference of an encoder with distance-
coded reference marks to the axis, the position of the axis zero point
related to the dedicated point defined on the encoder side (encoder zero
point) has to be entered in:
• S-0-0177, Absolute offset 1 (motor encoder)
• S-0-0178, Absolute offset 2 (external encoder)
To do this the following steps have to be carried out:
1. First set parameters for absolute offset to value "0":
• S-0-0177, Absolute offset 1
• S-0-0178, Absolute offset 2
2. For initial commissioning set parameters for homing procedure to low
values:
• S-0-0041, Homing velocity (e.g. 10 rpm)
• S-0-0042, Homing acceleration (e.g. 10 rad/s²)
3. Execution of C0600 Drive-controlled homing procedure command
(S-0-0148)
Property damage caused by step change of
actual position value!
⇒ By clearing the command the original operating
mode becomes active again. When the "drive-
CAUTION
internal interpolation" mode was set, for example,
the drive immediately moves to the value in
S-0-0258, Target position. Take changed actual
position value into consideration!
After the command was executed, the axis zero point is at the same axis
position as the dedicated
(S-0-0177/S-0-0178) was set to the value "0". The actual position value in
parameter S-0-0051, Position feedback 1 value or S-0-0053, Position
feedback 2 value now has absolute reference to this preliminary axis
zero point.
MPH-02, MPB-02, MPD-02
point because the absolute
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
offset