Bosch Rexroth IndraDrive MPH-02 Functional Description page 331

MPH-02, MPB-02, MPD-02
Special Cases
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Note: In this case, T
the positioning generator. Therefore, the cycle time to be used
is different according to the control performance (advanced:
250 µs, basic: 500 µs).
− − =
P 0 0042
- or -
− − =
P 0 0042
Note: S-0-0193 = 0 switches the smoothing filter off; i.e. the desired
acceleration or deceleration is immediately reached.
Modulo Processing
The S-0-0393, Command value mode parameter controls the drive
behavior in the case of position processing in modulo format. For
S-0-0393 the following definition applies:
• bit 1/0 = 00: positive direction of rotation
• bit 1/0 = 01: negative direction of rotation
• bit 1/0 = 10: shortest path
See also Parameter Description "S-0-0393, Command value
mode"
The following special cases apply for evaluating the settings for
parameter S-0-0393:
• If the absolute value of the current actual velocity is greater than the
velocity threshold for positioning (S-0-0417, Velocity threshold for
positioning in modulo format), the drive always moves in the last
active direction of rotation.
• If the target position is within the target position window (S-0-0418),
positioning is always carried out according to the "shortest path" mode.
Note: If the velocity threshold for positioning behavior was
parameterized with very low values that are within the noise
level of the actual velocity value, this can cause unpredictable
behavior.
See also Parameter Description "S-0-0417, Velocity threshold for
positioning in modulo format", "S-0-0418, Target position window in
modulo format" and "P-0-0050, Effective target position"
Operating Modes
is the cycle time of the position loop or
A, position
− −
S 0 0260, Positionin g Accelerat
− −
S 0 0193, Positionin
− −
S 0 0359, Positionin g Decelerati
− −
S 0 0193, Positionin
7-25
ion
g Jerk
on
g Jerk