Bosch Rexroth IndraDrive MPH-02 Functional Description page 425

MPH-02, MPB-02, MPD-02
Feed Constant and Load Gear
Parameterizing the
Synchronization Process
Selecting and Acknowledging
Active Cam Shaft
Parameterizing the Cam Shaft
Distance
Parameterizing Angle Offset
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
For linear scaling with rotary motor, parameterize the feed constant per
slave axis revolution (S-0-0123).
If available, also set the load gear of the slave axis accordingly in
parameters S-0-0121 and S-0-0122.
Determine synchronization velocity (P-0-0143) and synchronization
acceleration (P-0-0142).
Select and acknowledge the active cam shaft profile:
• The active cam shaft profile (P-0-0072, P-0-0092, P-0-0780 or
P-0-0781) is selected with parameters P-0-0088, Control word for
synchronous operating modes and P-0-0094, Cam shaft switch
angle.
• The active cam shaft is included in parameter P-0-0089, Status word
for synchronous operating modes. Switching of the cam shaft is
started by changing the control word. It is carried out by the drive and
acknowledged in the status word, when the master axis position
exceeds the angle set in parameter P-0-0094, Cam shaft switch
angle.
Parameterize the cam shaft distance:
• Parameter P-0-0144, Cam shaft distance switch angle defines at
which profile access angle and thus profile element a change in value
becomes effective for P-0-0093, Cam shaft distance. If the profile
values in the switch range = 0, an absolute position reference is
maintained in the case of a change.
• In parameter P-0-0088, Control word for synchronous operation
modes select with bits 3 and 4 whether new values for cam shaft
distance (P-0-0093) and for the electronic gear (P-0-0156/P-0-0157)
take effect immediately or only when the cam shaft distance switch
angle is passed or when the cam shaft profile is switched.
In bit 6 you can determine which reference is to be valid for delayed
acceptance of changes (cam shaft distance switch angle or cam shaft
profile switching).
See also Parameter Description "P-0-0088, Control word for
synchronous operation modes"
To avoid great position jumps when changing the profile access angle, a
new value for parameter P-0-0061, Angle offset begin of profile does
not immediately become effective. Starting with the current value, a ramp-
like approximation of the new value is carried out. The approximation is
carried out over the shortest possible distance. The gradient of the ramp
is set in parameter P-0-0158, Angle offset change rate.
Note: With P-0-0158, Angle offset change rate equal zero, the
angle offset is carried out in one step (immediately effective).
7-119
Operating Modes