Bosch Rexroth IndraDrive MPH-02 Functional Description page 391

MPH-02, MPB-02, MPD-02
Synchronization in the Modulo
Synchronization Direction
Synchronization with Absolute
Scaling
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
The actual position value in the division of the command value cycle is
derived from P-0-0753, Position actual value in actual value cycle. For
modulo division the number of divisions per actual value cycle is used.
The number is calculated with the following formula:
number
Fig. 7-62: Number of synchronization divisions per actual value cycle
The distance traveled during synchronization is the result of the difference
Range
between synchronous position command value (+ S-0-0048, Position
command value additional) and the actual position value. The
synchronization distance is limited to the modulo value.
=
distance %
Fig. 7-63: Synchronization distance for synchronization in modulo range
With P-0-0155 = 1 it is always the calculated synchronization distance that
is traveled. The setting in parameters P-0-0154, Synchronization
direction and P-0-0151, Synchronization window for modulo format
is not taken into account.
For modulo axes the distance is limited to +/-0.5 * synchronization range.
In addition, the setting in parameters P-0-0154, Synchronization
direction and P-0-0151, Synchronization window for modulo format
is taken into account.
Note: The
direction will only take effect, if the shortest distance
(absolute value ≤ 0.5 * synchronization range) is greater than
the synchronization window. In this case the synchronization
direction according to parameter P-0-0154 (positive or
negative or shortest distance) is used. If the shortest distance
is smaller than the synchronization window, the shortest
distance will always be traveled.
The position command value is generated in absolute form, therefore
there isn't any command value cycle and actual value cycle calculated.
Absolute synchronization is only possible up to ± 2048 revolutions
because the max. master axis encoder range is only 2
Note: Make sure that the motion of the slave axis does not exceed
the range defined in parameter S-0-0278, Maximum travel
range.
In order to be able to travel in absolutely synchronous form within the
max. travel range (S-0-0278), the following settings have to be made:
• The parameter P-0-0750, Master axis revolutions per master axis
cycle has to be initialized with zero.
• The position resulting from the addition of the values of P-0-0053,
Master axis position (positive and negative values) or P-0-0052,
= − −
of divisions P 0 0751
+ −
modulo value (X S 0
sync
setting in parameter
Operating Modes
actual value cylce
*
command value cycle
− −
0048 actual position v alue)
P-0-0154, Synchronization
32
increments.
7-85