Bosch Rexroth IndraDrive MPH-02 Functional Description page 287

MPH-02, MPB-02, MPD-02
Parameters for Position Limit
Requirements for
Activating the Function
Reference Point for Position
Limit Value Monitoring
Exceeding the Position Limit
Reaction when Exceeding
Position Limit Values
Exceeding Position Limit Values
as an Error
Exceeding Position Limit Values
as a Warning
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Position Limit Values (Software Limit Switch)
To define the travel range via position limit values the following
Values parameters are available:
• S-0-0049, Positive position limit value
• S-0-0050, Negative position limit value
Note: The position limit values are polled every 2 ms so that the
assigned error reaction is started at the earliest approx. 3 ms
after the position limit has been exceeded.
Requirements for using (activating) the position limit value monitor:
• The position data reference of the drive must have been established
(i.e. the encoder system of the active operating mode must be in
reference). The status bit in S-0-0403, Position feedback value
status then is "1".
• The monitor of the position limit values was activated in the S-0-0055,
Position polarities parameter (bit 4 = 1).
When 2 measuring systems are used the drive, for position limit value
monitoring, automatically refers to the measuring system that has been
homed.
Note: When 2 measuring systems are used and both systems are in
reference, the encoder selected in S-0-0147 (bit 3) is used.
Exceeding the position limit values is detected when the actual position
Values value of the active operating mode is outside the travel range defined by
the position limit values.
The drive reaction to exceeding the position limit values can be
determined via bit 2 of P-0-0090, Travel range limit parameter.
When "0" is entered in bit 2 of P-0-0090, exceeding the position limit
value is handled as an error with the reaction "velocity command value
reset" (see also "Speed Command Value Reset").
Drive behavior:
• After the speed command value has been reset, the drive switches off
the internal drive enable and thus is torque-free.
• The "ready-for-operation" contact opens.
See also "Velocity Command Value Reset" in section "Error Reactions:
Best Possible Deceleration" in chapter "Drive Functions"
When "1" is entered in bit 2 of P-0-0090, exceeding the position limit
values is handled as a warning with the reaction "velocity command value
reset".
Drive behavior:
• The drive does not switch off the internal drive enable.
• As long as the warning condition is present, i.e. the limit switch is
activated, only such command values are accepted that lead back to
the allowed range. Checking the command values is dependent on the
active operating mode (see "Notes on Commissioning").
See also "Velocity Command Value Reset" in section "Error Reactions:
Best Possible Deceleration" in chapter "Drive Functions"
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Drive Control