Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description page 111

ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
So that the motor is not overloaded, the torque values should be set by
the MOM command. The start of the positioning move generally occurs
150 ms after the command is loaded.
Note: Before invoking commands PFA and PFI, the torque limit
values must be set by invoking the MOM command.
See also Section 8 function 'Movement to Positive Stop.'
Example:
0100 MOM 1 020 040 00.00.0 400
0101 POA 1 000250.000 999
0102 VCC 1 +000200 100 1 1
0103 PFA 1 +000300.000 100 002
0104 JMP 0200
0105 BCE 0120 I0.00.7 1
0106 JMP 0105
0120 PSA 1 +000000.000 999
0121 JST 0100
0200 AEA Q0.01.2 1
0201 PSA 1 +000000.000 999
0202 JST 0000
Fig. 6-22: PFA Command Program Example
Writing the User Program
Torque Reduction:
To positive stop 20%
At positive stop 40%
Initiate movement at maximum
speed.
Wait until position +200 with
v=10% is reached.
Movement to positive stop until
position +300 is reached.
Jump if positive stop was not
recognized.
Positive stop was recognized.
Jump if input is 1.
Wait until input becomes 1.
Return to position +0
Jump with stop according to
instruction 0100 (wait for next
cycle)
Set output.
Return to position +0
Jump with stop according to
instruction 0000.
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