Bosch Rexroth IndraDrive MPH-02 Functional Description page 459

MPH-02, MPB-02, MPD-02
Starting the Command
Reference of the Axis-Related
Actual Position Value
Pertinent Parameters
Pertinent Diagnostic Messages
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Note: If the absolute measuring was only set for one encoder, the
actual position values of both encoders remain equal as long
as mechanical axis system and encoder systems are
mechanically connected without slip (slip control is possible!).
It is recommended to start the "set absolute measuring" command when
the axis is in standstill without drive enable. In the cases in which the
drive, for establishing the position data reference, has to move the axis to
a defined position and hold it there, "set absolute measuring" can also be
executed with active drive.
Note: "Active drive" means the drive that is in control! Drive enable
("AF") has been set!
By starting the "set absolute measuring" command the previous actual
position value of an encoder at a reference position of the axis is set to a
new value. This value then is the current axis position related to the
coordinate system of the machine.
The reference position is defined by:
• the current axis position
- or -
• the positioning of the axis at a "striking" axis position
(e.g. value "0").
The required assignments and configurations for "setting absolute
measuring" are realized via parameter settings.
• S-0-0052, Reference distance 1
• S-0-0054, Reference distance 2
• S-0-0269, Parameter buffer mode
• P-0-0012, C0300 Command Set absolute measuring
• P-0-0177, Absolute encoder buffer 1 (motor encoder)
• P-0-0178, Absolute encoder buffer 2 (optional encoder)
• P-0-0612, Control word for setting absolute measuring
• P-0-1002, Absolute encoder offset 1, encoder memory
• P-0-1012, Absolute encoder offset 2, encoder memory
• C0300 Command Set absolute measuring
• C0301 Measuring system unavailable
• C0302 Absolute evaluation of measuring system impossible
• C0303 Absolute encoder offset cannot be saved
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Drive Functions