Bosch Rexroth IndraDrive MPH-02 Functional Description page 210

5-86
Motor, Mechanical Axis System, Measuring Systems
Scaling type of position data:
Reference: motor reference
External encoder:
Type of motion of external
encoder:
Conditions (no.) to be complied
Conditions: No. 1:
Basic Scaling Settings
• Only load reference is possible for linear modulo scaling. Depending
on the use of an external encoder the following conditions have to be
complied with:
Modulo scaling, linear position reference
(not possible!)
---
---
---
with:
S-0-0103 * S-0-0121 * P-0-0129 ≤ 2
S-0-0123 * S-0-0122 ≤ 2
No. 2:
S-0-0103 * S-0-0121 * P-0-0122 * S-0-0116 ≤ 2
No. 3:
S-0-0123 * S-0-0122 * P-0-0121 ≤ 2
No. 4:
S-0-0103 * P-0-0125 * S-0-0117 ≤ 2
No. 5:
S-0-0123 * P-0-0124 ≤ 2
No. 6:
No. 7: S-0-0103 * S-0-0077 * 10
S-0-0103: modulo value
P-0-0129: internal position data format
S-0-0116: feedback 1 Resolution
S-0-0117: feedback 2 Resolution
S-0-0077: linear position data scaling position data
S-0-0078: linear position data scaling position data
S-0-0123: feed constant
P-0-0121: gear 1 motor-side (motor encoder)
P-0-0122: gear 1 encoder-side (motor encoder)
S-0-0121: input revolutions of load gear
S-0-0122: output revolutions of load gear
P-0-0124: gear 2 load-side (optional encoder)
P-0-0125: gear 2 encoder-side (optional encoder)
Fig. 5-100: Conditions for modulo scaling and linear position reference
Note: Linear modulo scaling is impossible for motor reference!
Notes on Commissioning
First make the basic scaling settings for position, velocity, acceleration
and torque/force data. This is only possible in the parameter mode
(communication phase 2).
You have to determine:
• scaling type (rotary/linear/without scaling/percentage-based, if
necessary)
• unit of measurement and unit of time, if necessary
• data reference (motor/load)
• absolute/modulo format for position data
• preferred scaling (predefined) or parameter scaling (can be individually
defined)
MPH-02, MPB-02, MPD-02
Load Reference
external encoder available
rotary linear
1 1
2 2
3 3
4 4
5 5
6 7
64
64
64
64
64
S-0-0078 64
≤ 2
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
no external
encoder available
1
2
3
4
64