Bosch Rexroth IndraDrive MPH-02 Functional Description page 359

MPH-02, MPB-02, MPD-02
Reference Position
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Example:
• relative positioning with residual path storage with travel distance
= 700 (plus residual path = 20 of positioning block n-1)
• without interruption
• current position = 180; new target position = 900
The last valid target position is used as reference position
(in the example position = 200 of positioning block n-1).
v
velocity
profile
P-0-4026,
Positioning block
selection
P-0-4051,
Positioning block
acknowledgment
Drive HALT (AH):
S-0-0134,
Master control
word (bit 13)
end position reached:
P-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. 7-31: Relative positioning block with residual path storage
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.
Operating Modes
x = 180
positioning block 01
positioning block 01
01
t
R
communication, positioning block
7-53
S-0-0124,
Standstill
window
x = 900
t
DK000029v01_en.fh7