Bosch Rexroth IndraDrive MPH-02 Functional Description page 354

7-48
Operating Modes
Example:
Absolute positioning with target position = 700 (current position = 200).
v
velocity
profile
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
01
acknowledgment
Drive HALT (AH):
S-0-0134,
Master control
word (bit 13)
end position reached:
P-0-4061,
Positioning block
status word (bit 4)
in standstill:
S-0-0013,
Class 3
diagnostics (bit 1)
positioning block
acceptance:
P-0-4060 (bit 0)
S-0-0419,
Positioning command
acknowledge
positioning inputs valid
positioning acknowledgment outputs show negated status
of positioning inputs
after valid block acceptance, positioning acknowledgment outputs
show non-inverted status of positioning inputs
Fig. 7-28: Absolute positioning block
Note: According to master
acceptance takes place by toggling bit 0 in S-0-0346 or by a 0-
1 edge of bit 0 in P-0-4060.
MPH-02, MPB-02, MPD-02
x = 200 x = 700
positioning block 01
positioning block 01
t
R
communication, positioning block
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
S-0-0124,
Standstill
window
t
DK000026v01_en.fh7