Bosch Rexroth IndraDrive MPH-02 Functional Description page 396

7-90
Operating Modes
Relative Synchronization in
Running Operation
The figure below illustrates the relative synchronization to a virtual master
axis, the master axis having a velocity ≠ 0 when the operating mode is
activated.
master axis
velocity
0
1
operating mode
activated
0
synchronization
1
completed
(P-0-0152, bit 0)
0
velocity
of slave axis
0 0
Fig. 7-69: Example: relative synchronization in running operation
• When the operating mode is activated, the master axis moves at
constant velocity.
• Based on its current position the slave axis accelerates to the
synchronous velocity.
acceleration (P-0-0142) is effective.
• Upon reaching the synchronous velocity the bits for "synchronization
completed" (P-0-0152,
synchronized" (P-0-0089, bit 8 = 1) are output.
MPH-02, MPB-02, MPD-02
P-0-0142
While doing this the
Bit 0 = 1) and "slave
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
t
t
t
t
DK000042v01_en.fh7
synchronization
axis has been