Bosch Rexroth IndraDrive MPH-02 Functional Description page 261

MPH-02, MPB-02, MPD-02
Interrupting the Command with
"Drive Halt"
Checking the Defined Travel
Drive Enable Missing
Monitoring of Inertia Detection
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
velocity profile
v
standstill window
AH/START
INBWG (moving)
drive enable
start of automat.
controller setting
diagnostic display
start of automatic controller setting via
command C1800 (P-0-0162)
Fig. 6-33: Signal flow chart for interruption by "Drive Halt"
Note: A repeated run with possibly changed settings can be carried
out in two ways:
•
by removing and then applying drive enable or start signal
("drive start")
• by completing and then restarting command C1800
Diagnostic Messages and Monitoring Functions
When the travel range is defined, it is checked with regard to useful
Range values. In the case of error the following command error messages can
be generated:
• If the defined travel range is less than 2 motor revolutions, the
command error C1805 Travel range invalid is displayed because the
correct execution of the command requires a minimum travel range.
• If the axis is not within the defined travel range at command start, the
command error C1805 Travel range invalid is displayed.
If drive enable is missing at command start, the command error C1801
Start requires drive enable is generated.
In order to ensure correct setting of the controller parameters the inertia
detection required to do this is monitored. Incorrect detection of the inertia
would cause incorrect controller settings and therefore is signaled by the
error message C1803 Inertia detection failed. This error message is
generated when the values set in the following parameters are too low:
• S-0-0092, Bipolar torque/force limit value
The maximum motor torque effective during the automatic control loop
setting can be influenced via parameter S-0-0092. It is thereby
possible to limit the torque to prevent wear of the mechanical system.
• S-0-0108, Feedrate override
By means of the feedrate override the velocity can be influenced via
the analog channel (potentiometer) during the automatic control loop
setting.
• S-0-0259, Positioning Velocity
This parameter defines the velocity effective during the automatic
control loop setting.
interrupt
duration of autom. controller setting
Ab AF C1800
6-49
Drive Control
t
AF AH
t
SV5009D2.fh7