Notes On Commissioning - Bosch Rexroth IndraDrive MPH-02 Functional Description

MPH-02, MPB-02, MPD-02

Notes on Commissioning

Diagnostic and Status Messages
Acknowledgment "Drive Halt"
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
control word
(P-0-0116; bit 13)
v
standstill window
(S-0-0124)
diagnostic
AF
message
acknow-
ledgment
"Drive Halt"
(P-0-0115; bit 4)
S-0-0372: Drive Halt acceleration bipolar
Fig. 8-2: Principle of "Drive Halt" with velocity control active before
The activated "Drive Halt" function is displayed as described below:
• "AH" appearing on the control panel display at the front of the device
• "A0010" entered in parameter S-0-0390, Diagnostic message
number
• "A0010 Drive HALT" entered in parameter S-0-0095, Diagnostic
message
• in bit "status of command value processing" in status word of master
communication (e.g. with SERCOS: bit 3 = 0 in S-0-0135, Drive
status word)
An acknowledgment is carried out when the actual velocity falls below the
threshold defined in parameter S-0-0124, Standstill window. Bit 4
(acknowledgment Drive Halt) is then set in the drive in parameter
P-0-0115, Device control: status word.
activation "Drive Halt" (AH)
S-0-0372
AH
t
1
8-3
Drive Functions
t
t
AF
t
t
1
t
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