Bosch Rexroth IndraDrive MPH-02 Functional Description page 545

MPH-02, MPB-02, MPD-02
Information on Measuring
Encoder and Position Evaluation
Making the Presetting
Actual Position Value at
Reference Position
Execute "Set Absolute
Measuring"
Checking the Position Data
Reference
Loss of Reference
Activating Homing Procedure of
Measuring Encoder
Actual Position Value at
Reference Position
Checking Position Data
Reference and Deactivating
Homing Procedure
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Note: Incremental scaling! The threshold of the error message
depends on application-specific aspects of operational safety.
The monitor is deactivated by the value "0"!
If the change of actual position value between the switching off and
switching on is greater than the threshold value that was set, the following
error message is generated:
• F2076 Actual pos. value 3 outside absolute encoder window.
Current information on measuring encoder and position evaluation is
stored in the following parameters:
• P-0-0052, Actual position value of measuring encoder
• P-0-0331, Status of measuring encoder
• P-0-0326, Multiplication of measuring encoder
Note: When parameter P-0-0326 has the value "32768", encoder
evaluation is ideal!
Establishing Position Data Reference for Measuring
Encoder to be Evaluated in Absolute Form
Make the presetting for "set absolute measuring" by determining the
measuring encoder for "set absolute measuring" in P-0-0612, Control
word for setting absolute measuring.
Determine the actual position value at the reference position in parameter
• P-0-0087, Actual position value offset of measuring encoder.
Start P-0-0012, C0300 Command Set absolute measuring. After its
execution the command has to be cleared again.
See also "Basic Functions of Master Communication: Command
Processing" in chapter "Master Communication"
The position status of the measuring encoder is displayed in:
• P-0-0331, Status of measuring encoder
If the position data reference of the measuring encoder evaluated in
absolute form got lost, the following message appears:
• F2176 Loss of measuring encoder reference.
The position data reference has to be established again!
Establishing Position Data Reference for Relative
Measuring Encoder
Activate reference mark detection in the respective bit of
• P-0-0330, Control word of measuring encoder
Determine the actual position value at the reference position in parameter
• P-0-0087, Actual position value offset of measuring encoder.
The reference mark signal first read sets the actual position value of the
measuring encoder in reference. This is displayed in
• P-0-0331, Status of measuring encoder
Extended Drive Functions
9-17