Bosch Rexroth IndraDrive MPH-02 Functional Description page 452

8-20
Drive Functions
Maximum Velocity
Shutdown
Starting Command C0600
Interrupting Command C0600
As in the case of all drive-controlled functions, the maximum velocity can
be directly influenced with a feedrate factor when executing the homing
procedure. The effective maximum velocity then results from the product
of the values of S-0-0041, Homing velocity and S-0-0108, Feedrate
override.
After the controller has detected the dedicated point of the axis by the
homing procedure, the actual position values are switched to axis-related
values. The drive then shuts down the axis with the homing acceleration
(S-0-0042). Shutdown can be carried out as:
• "positioning"
→ target-oriented motion to the reference point (axis-related value of
S-0-0052, Reference distance 1/S-0-0054, Reference distance 2)
- or -
• "stopping"
→ non-target-oriented immediate braking motion that possibly is of
shorter duration
Note: In the case of "run path", the drive stops the axis after the
double reference mark distance was covered (only possible for
distance-coded encoder)!
The kind of shutdown ("positioning" or "stopping") is set in S-0-0147,
Homing parameter.
S-0-0042
v
0
starting
position
S-0-0041: homing velocity
S-0-0042: homing acceleration
S-0-0108: feedrate override
Abb. 8-20: Command value profile for drive-controlled homing with constant
feedrate factor and "positioning" shutdown
Note: If parameter S-0-0108, Feedrate override starts with zero, the
E2055 Feedrate-override S-0-0108 = 0 warning is output.
Actions of the Control Unit of Drive-Controlled Homing
The control master starts the command by writing data to parameter
S-0-0148, C0600 Drive-controlled homing procedure command. The
command has to be set and enabled. The command acknowledgment
has to be taken from the data status of the same parameter. The
command execution is completed when the command change bit in
S-0-0135, Drive status word was set and the acknowledgment changes
from "in process" to "command executed" or to "command error".
If the command is interrupted by the control master during its execution,
the drive reacts by activating the "Drive Halt" function. The command
execution is continued by removing the interruption.
See also "Drive Halt" in the same chapter
MPH-02, MPB-02, MPD-02
S-0-0108 * S-0-0041
x
reference
point
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