Diagnostic And Status Messages, Acknowledgment - Bosch Rexroth IndraDrive MPH-02 Functional Description

MPH-02, MPB-02, MPD-02

Diagnostic and Status Messages, Acknowledgment

Acknowledgment with Active
Operating Mode
Acknowledgment at "Drive Halt"
Acknowledgment with
Secondary Operating Modes
Acknowledgment with Drive
Enable Switched Off
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Note: In the case of a sequential block with directional change, it is
necessary to take values according to the above formula for
the minimum acceleration value into account in order to avoid
overshooting of position!
Positioning Block Acknowledgment
The positioning block acknowledgment is used for feedback of the
execution of the active positioning block.
After the positioning block mode has been activated, the complement of
the block number of the selected positioning block is acknowledged until a
start signal (toggling of bit 0 in S-0-0346, Positioning control word or 0-
1 edge of bit 0 in P-0-4060, Positioning block control word) is set. As
of the first start signal and if operation is trouble-free, the block number of
the positioning block that was started is output. If an error is detected at
the start of a positioning block, the faulty positioning block is
acknowledged with the complement of the block number. The drive
generates a warning and stops.
If "Drive Halt" is active, the complement of the block number of the
selected positioning block is output in parameter P-0-4051, Positioning
block acknowledgment.
The acknowledgment is not affected by secondary operating modes, error
reaction and command inputs, i.e. parameter P-0-4051, Positioning
block acknowledgment retains the value.
After switching off drive enable the last accepted positioning block is
output at the acknowledge outputs. If the drive is at the target position of
the last accepted positioning block, the message "end position reached"
is additionally output.
The example below shows the same absolute positioning block being
started once again.
7-73
Operating Modes