Bosch Rexroth IndraDrive MPH-02 Functional Description page 465

MPH-02, MPB-02, MPD-02
"Shift Coordinate System
Procedure" Command
Action of Control Unit After
Command Acknowledgment
Change in Position Data by
"Shifting Position Data
Reference"
Unchanged Position Data After
"Shifting Position Data
Reference"
"Set Coordinate System
Procedure"
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
See also Troubleshooting Guide for "A0010 Drive HALT"
In standstill the actual position value is set to S-0-0198, Initial coordinate
value and the difference between the new and original actual position
value is stored in parameter S-0-0283. The command then is
acknowledged as having been "executed".
When the control master triggers C3400 Shift coordinate system
procedure command (S-0-0199), the drive also becomes independent of
the command values preset by the master but maintains the current
velocity by internal input of the previous velocity command value. The
actual position values now are shifted by addition of S-0-0275,
Coordinates of offset value. The difference between the new and
original actual position values is stored in parameter S-0-0283. The
command then is acknowledged as having been "executed".
After the command acknowledgment the control master has to adjust to
the shifted actual position values. This can be done by means of the
actual position values of the encoder active for position control (S-0-0051
or S-0-0053) or the current offset value (S-0-0283). When the control
master has adjusted its command values to the new actual position
values, it can clear the command. The master then sets the command
values again. In spite of the actual position value having been shifted with
the drive active, there is no jerk when controlled!
Measured position values, generated by probe evaluation, for example,
refer to the actual position value system in which they were measured,
i.e.:
• When measured after the shifting, they refer to the "shifted" measuring
system.
• When measured before the shifting, they refer to the original
measuring system.
Command values (cyclic command values, target position, spindle angle
position etc.) have to refer to the current actual position value system, i.e.
to the possibly shifted position data reference.
Travel range limit values (S-0-0049 or S-0-0050) and position
correction values (e.g. axis error correction values) are always in their
original position data reference, i.e. the control unit, before writing these
parameters, has to take the current offset into account and calculate the
original position reference again.
Notes on Commissioning
Shifting the position data reference during commissioning can cause
incorrect command values after the shifting has been carried out!
Commissioning basically makes sense only in conjunction with the control
master. Check whether the command value handling of the master is
correct!
Property damage caused by error in command
value input after shifting the position data
reference!
⇒ Protect the travel range of the axis, activate axis limit
CAUTION
switches and make sure they are working!
It is recommended to begin with "set coordinate system procedure". But
first the parameter S-0-0283, Current coordinate offset should be read.
When the shifting of the position data reference has not yet been carried
out after the transition from "P2" to "AF", the value has to be "0"!
8-33
Drive Functions