Bosch Rexroth IndraDrive MPH-02 Functional Description page 455

MPH-02, MPB-02, MPD-02
Identifying the
Dedicated Point
Settings for the
Reference Point
Settings for Homing Motion
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Property damage caused by step change of
actual position value!
⇒ By clearing the command the original operating
mode becomes active again. When the "drive-
CAUTION
internal interpolation" mode was set, for example,
the drive immediately moves to the value in
S-0-0258, Target position. Take change of actual
position value into consideration!
After the command was executed the axis zero point is at the same axis
position as the dedicated point, because the reference distance
(S-0-0052/S-0-0054) and the reference offset (S-0-0150/S-0-0151) were
set to the value "0". The actual position value in parameter S-0-0051,
Position feedback 1 value or S-0-0053, Position feedback 2 value now
has absolute reference to this preliminary axis zero point.
The reference point normally has an actual position value determined on
the axis-side and related to the axis zero point. Ideally the dedicated point
identified on the drive-side has the same position as the reference point.
As the dedicated point position is considerably influenced by the mounting
situation of the encoder, dedicated point and reference point are different.
The distance between dedicated point and reference point for the motor
encoder or external encoder is entered in the parameter for reference
offset 1 or reference offset 2.
To determine the reference offset the following steps have to be carried
out, based on the initial status after the proposed identification of the
dedicated point:
• Jog axis to determined reference point and enter actual position value
displayed at the reference point in parameter S-0-0150, Reference
offset 1 or S-0-0151, Reference offset 2 with same preceding sign.
In order to establish the position reference to the real axis zero point enter
the desired axis-related actual position value of the reference point in
parameter S-0-0052, Reference distance 1 or S-0-0054, Reference
distance 2. This can be directly done by entering the value defined on the
axis-side if this value is known. If not, the axis-related actual position
value of the reference point has to be determined:
• Jog axis to desired axis zero point. Enter displayed actual position
value in the respective reference distance parameter with inverted
sign.
- or -
• Jog axis to actual position value = 0; axis then is at reference point.
Axis-related position of reference point can be determined by
measuring distance between current position and determined axis
zero point. Enter measured distance as axis-related actual position
value for reference point in respective reference distance parameter
with the correct sign.
After repeated execution of command S-0-0148, C0600 Drive-controlled
homing procedure command the actual position values refer to the axis
zero point.
Set the parameter values reduced for initial commissioning to their
definite values:
• S-0-0041, Homing velocity
• S-0-0042, Homing acceleration
For the purpose of control execute command C0600 again!
8-23
Drive Functions