Bosch Rexroth IndraDrive MPH-02 Functional Description page 345

MPH-02, MPB-02, MPD-02
E2053 Target position out of
travel range
E2047 Interpolation velocity = 0
E2048 Interpolation
acceleration = 0
E2049 Positionier-
Geschwindigkeit >= S-0-0091
E2055 Feedrate-override
S-0-0108 = 0
E2064 Target position out of
num. range
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Monitoring Functions
Operating mode-specific monitoring functions are:
• If position limit value monitoring is activated (bit 4 of S-0-0055,
Position polarities is set) and the measurement system used for the
operating mode has been homed, the parameter S-0-0258, Target
position is monitored for complying with the position limit values
(S-0-0049 or S-0-0050). If these values are exceeded, the E0253
Target position out of travel range warning is generated.
The preset target position will not be accepted.
• If the positioning velocity preset in S-0-0259, Positioning Velocity
equals zero, the E2047 Interpolation velocity = 0 warning is
generated.
• If
the positioning
Acceleration equals zero, the E2048 Interpolation acceleration = 0
warning is generated.
• If the preset positioning velocity (S-0-0259, Positioning Velocity)
exceeds the maximum allowed limit value (S-0-0091, Bipolar velocity
limit value), the E2049 Positioning velocity >= S-0-0091 warning is
generated.
The drive will move to the new target position with the velocity from
parameter S-0-0091, Bipolar velocity limit value.
• If the factor of the positioning velocity S-0-0108, Feedrate override
equals zero, the E2055 Feedrate-override S-0-0108 = 0 warning is
generated.
• If the internal numeric range of the position data is exceeded due to
continuous relative positioning, the warning E2064 Target position
out of num. range is generated.
Status Messages
The S-0-0437, Positioning status word parameter contains all important
status information for this operating mode.
See Parameter Description "S-0-0437, Positioning status word"
The figures below illustrate the operating principle of the status
messages:
v
positioning
velocity
starting
position
Fig. 7-22: 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.
Operating Modes
velocity preset in S-0-0260,
7-39
Positioning
target
X
position
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