Bosch Rexroth IndraDrive MPH-02 Functional Description page 374

7-68
Operating Modes
Interrupting a Sequential Block
Reference Position
Note: All conditions for advance are constantly queried and
evaluated to be able to switch to the correct sequential block
even after the sequential block chain was interrupted. Only the
first condition for advance occurring during an interruption is
recognized, however. All other conditions are not taken into
account!
There are two basically different behaviors when a sequential block chain
Chain is interrupted:
1. residual path is rejected when interruption by:
• positioning stop (S-0-0346, bit 1 and bit 2 = 1)
• jogging +/-
• control voltage "Off"
After interruption with "positioning stop" and "jogging +/-" positioning
always continues at the current actual position. The sequential block
chain interrupted before is not completed but the currently selected
block is carried out. Thereby the incremental dimension reference gets
lost!
2. residual path is maintained when interruption by:
•
removing drive enable
•
removing the "drive start" signal
•
changing the operating mode
Depending on the block type of the sequential block chain that was
interrupted and the events occurring during this interruption, the
sequential block chain is processed differently after a restart.
Note: In sequential block mode relative positioning blocks without
residual path storage are not allowed as otherwise the
incremental dimension reference would get lost in the case of
interruption.
Given an interruption, a restart will end the sequential block chain.
The reference position is the original start position of the sequential block
chain.
Note: The incremental dimension reference is retained as only
absolute and relative positioning blocks with residual path
storage are used in sequential block mode!
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P