Bosch Rexroth IndraDrive MPH-02 Functional Description page 473

MPH-02, MPB-02, MPD-02
Error Reaction "Return Motion"
with Activated Position Limit
Sequence of Error Reaction with
Motor Holding Brake Available
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
AF from NC
bit 15: 1
bit 14: 1
P-0-0115
bit 3: 1
bit 12: 1
S-0-0013
bit 1: 1
motor
released
holding
applied
brake
actual velocity
value
DK000016v01_en.fh7
S-0-0013:
S-0-0207:
S-0-0124:
S-0-0273:
P-0-0115:
Fig. 8-26: Sequence of "return motion" error reaction
When the drive-internal position limit values (S-0-0049, Positive position
limit value and S-0-0050, Negative position limit value) were activated,
Values
i.e. when
• bit 4 for "activating the position limit values" was set to "1" in S-0-0055,
Position polarities
- and -
• the encoder selected via S-0-0147, Homing parameter (bit 3) is in
reference (S-0-0403, Position feedback value status = 1),
it is ensured that the drive does not leave the defined allowed travel range
by executing the "return motion" error reaction.
Note: When the drive is in a position in which the execution of the
return motion would exceed a position limit value, the drive in
this case only moves up to shortly before the respective
position limit value (exactly S-0-0057, Position window
before the position limit value).
The sequence of the error reaction with motor holding brake available is
described in chapter "Motor, Mechanical Axis System, Measuring
Systems" in section "General Information on the Operation of Motors with
IndraDrive" under "Motor Holding Brake: Error Situation 1".
AF reset by NC or error with "return motion"
error reaction
1
0
0
0
0
drive disables NC command values
0
0
value of S-0-0124
class 3 diagnostics
drive off delay time
standstill window
maximum drive off delay time
device control: status word
Drive Functions
(AF internal)
target pos. reached
v < S-0-0124
act
S-0-0207
S-0-0273
8-41
t