Bosch Rexroth IndraDrive MPH-02 Functional Description page 289

MPH-02, MPB-02, MPD-02
Activating the Position Limit
Value Monitor
Activating the Travel Range
Limit Switches
Signal Behavior of
Travel Range Limit Switches
(N/O and N/C)
Recommissioning in Case of
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
The monitor of the position limit values is activated by setting bit 4 in
parameter S-0-0055, Position polarities.
Note: Before activating the position limit value monitor it is necessary
to establish the drive's position data reference, because
position limit values are only useful and operational when the
axis was homed.
The travel range limit switches are activated by setting bit 1 in P-0-0090,
Travel range limit parameter.
Note: When activating the travel range limit switches make sure that
the respective digital inputs (Limit+, Limit-) were configured
accordingly because otherwise the limit switch function is not
guaranteed.
See "Digital Inputs/Outputs" in chapter "Extended Drive
Functions"
Via bit 0 of P-0-0090, Travel range limit parameter it is possible to set
whether the connected travel range limit switches are evaluated as N/O or
N/C. This allows activating an inversion of the signal.
After a limit switch or limit value error occurred (diagnostic messages
Error F6043/F6044 or F6029/F6030), the following steps are required for
recommissioning:
• Clear the error message via the S-0-0099, C0500 Reset class 1
diagnostics command or by pressing the "Esc" button on the
standard control panel.
• Activate the drive with a positive edge of the drive enable signal.
If the error condition is still present, i.e. if the limit switch is still activated
or if the position limit values are still exceeded, only such command
values are accepted that lead back to the allowed range. Checking the
command values is dependent on the active operating mode.
The following applies:
Operating mode
torque control
all operating modes with drive-internal
velocity control
all operating modes with drive-internal
position control
Fig. 6-51: Checking the command values in the case of error
Note: If command values leading out of the allowed travel range
continue to be preset, the error message (or warning) for
travel range limit switch errors/position limit value errors will
occur again!
Drive Control
Command value check
polarity of S-0-0080, Torque/force
command value
polarity of the internal velocity
command value
polarity of the velocity resulting from
the preset position command value
6-77