Bosch REXROTH IndraDrive Applications Manual page 40

38/97 Bosch Rexroth AG
Intelligent Error Reaction
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
error is to take place. According to the settings, the parameterized reaction is
carried out. The setting as to which error class the reaction is to take place is
made in the parameter P‑0‑1370, bit 1 to 3 (bit 1: reaction to F2xxx; bit 2: re‐
action to F3xxx; bit 3: reaction to F4xxx). In bit 0, set the type of reaction, that
is the moving to a return position or an analog velocity input.
Step 2: Positioning
If the moving to a preset return position is to be the reaction to the error which
is present, the program waits for a rising edge of "bStart" (P‑0‑1390, bit 1,
%IX0.1). After the rising edge has been detected, MLD takes control and the
drive moves to the position set in P‑0‑1372. When the position has been
reached, this is signaled with "bInPos" (P‑0‑1410, bit 1, %QX0.1). Afterwards,
control is ceded to the master communication and the error reaction has been
completed.
Step 3: Analog velocity input
If the error reaction is to be such that the axis follows an analog velocity com‐
mand value, the program waits for a rising edge of "bStart" (P‑0‑1390, bit 1,
%IX0.1). After the rising edge has been detected, MLD takes control and the
drive follows the velocity value preset in parameter P‑0‑1374 via the analog
input. In the case of a negative edge of the Enable signal "bEnable" (P‑0‑1390,
bit 0, %IX0.0), the drive no longer follows the analog command value input and
is stopped. Control is ceded to the master communication and the error reaction
has been completed.
DOK-INDRV*-MLD-APPLI**-AW02-EN-P