Bosch Rexroth IndraDrive MPH-02 Functional Description page 207

MPH-02, MPB-02, MPD-02
rotary motor
P-0-0121
P-0-0122
motor enc.
gear
(encoder1)
encoder1
linear motor
motor encoder
(encoder1)
Polarity
Modulo Scaling
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Motor, Mechanical Axis System, Measuring Systems
rotary
motor
scaling
S-0-0076
linear
S-0-0051
scaling
rotary
encoder
S-0-0115
linear
encoder
Fig. 5-96: Mechanical transfer elements between motor, encoders and load
Note: For linear motors the motor reference is the same as the load
reference because the point where the force is input and point
where the load takes effect are identical. There aren't any
mechanical transfer elements!
The polarity of the position, velocity and torque/force data can be changed
from positive to negative polarity in the following parameters:
• S-0-0055, Position polarities
• S-0-0043, Velocity polarity parameter
• S-0-0085, Torque/force polarity parameter
Depending on the mounting situation (especially of kit motors and their
respective motor encoder or external encoder), this allows determining
the appropriate polarity of the respective data for the machine axis.
Via the respective bit of parameter S-0-0076, Position data scaling type
it is possible to select, for the position data format, between
• absolute format and
• modulo format.
If the position data of an axis with infinite travel range (e.g. rotary axis,
spindle etc.) were processed in absolute format, the axis would risk to
move beyond the value range of the position data. This would lead to
invalid position data; operating modes with position control would not be
safe to operate.
The value range for modulo format is limited, only position data between
the value 0.00... and a maximum value to be determined in parameter
S-0-0103, Modulo value are possible.
When the measured actual position value exceeds the value range or
falls below it, the actual position value displayed in S-0-0051/S-0-0053
behaves unsteadily, i.e. it changes by the absolute value of the modulo
value range in such a way that the actual position value displayed always
remains within the modulo value range.
P-0-0124
P-0-0125
gear
S-0-0121
S-0-0122 encoder2
load gear
P-0-0124
P-0-0125
gear
encoder2
S-0-0121
S-0-0122
S-0-0123
feed spindle
load gear
S-0-0121
S-0-0122
S-0-0123
feed spindle
load gear
5-83
ext. encoder
(encoder2)
rotary
load
ext. encoder
(encoder2)
linear
load
linear
load
ext. enc.
(encoder2)
DF0047v1.fh7