Bosch Rexroth IndraDrive MPH-02 Functional Description page 333

MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
The figures below illustrate the operating principle of the status
messages:
v
positioning
velocity
starting
position
Fig. 7-14: Travel profile to explain how the interpolation status messages work
In this example, the drive is at the starting position when the new target
position is preset.
The result is the following time diagram:
v
0
x
target position
starting position
x
lag error
(drawing
magnified)
S-0-0013, bit 12
1
target position
0
attained
1
S-0-0437, bit 1
0
in target position
1
S-0-0437, bit 2
0
IZP
Fig. 7-15: Generating the status bits of the operating modes with drive-internal
interpolation
Operating Modes
actual velocity
value
pos. cmd val.
act. pos. val.
7-27
target
X
position
DK000055v01_en.fh7
standstill
window
t
positioning
window
t
positioning
window
t
positioning
window
t
t
t
t
DK000056v01_en.fh7