Establishing Position Data Reference For Absolute Measuring Systems - Bosch Rexroth IndraDrive MPH-02 Functional Description

8-26
Drive Functions
Checking the Detection of End
of Travel Range

Establishing Position Data Reference for Absolute Measuring Systems

"Set Absolute Measuring"
Command
Motor Encoder and External
Encoder
the axis down. The controller therefore can always detect two neighboring
reference marks which is required for establishing the position data
reference.
Note: "Run path" supports homing of Gantry axes when distance-
coded encoders are used for both axes!
For linear axes with distance-coded measuring system a home switch is
required for detecting the end of the travel range. If the home switch is
activated at the start of command C0600, the axis slide, to establish the
position data reference, has to move against the reference travel direction
selected in S-0-0147.
The signal status of the home switch is displayed in parameter S-0-0400,
Home switch.
Procedure for checking the detection of the end of travel range:
• move axis to "activated" range of home switch
• start command C0600
→ Axis now must move against reference travel direction until position
data reference has been established.
Possible Error Messages during Drive-Controlled Homing
While command C0600 is executed, the following command errors can
occur:
• C0601 Homing only possible with drive enable
• C0602 Distance home switch - reference mark erroneous
• C0604 Homing of absolute encoder not possible
• C0606 Reference mark not detected
• C0607 Reference cam input not assigned
Brief Description
See also "General Information on Establishing the Position Data
Reference"
The position data reference of an absolute measuring system to the axis
has to be established once during initial commissioning, after replacing
the motor or encoder (motor encoder or external encoder) and changes in
the mechanical axis system.
In the case of measuring systems to be evaluated in absolute form, the
position data reference is automatically established by the drive by
starting the "set absolute measuring" command.
The position data reference once established is maintained until "set
absolute measuring" is started again. The actual position values therefore
are axis-related ("homed") immediately after the drive is switched on.
If two absolute measuring systems have been connected to the controller,
the absolute measuring can be separately set for both measuring
systems. If the absolute measuring was only set for one of the measuring
systems, both actual position values are equal at the position to which the
absolute measuring was set.
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P