Bosch Rexroth IndraDrive MPH-02 Functional Description page 466

8-34
Drive Functions
Checking the Offset of Position
Data Reference
Checking the Command Value
Input and Clearing the
Command
"Shift Coordinate System
Procedure"
Checking the Offset of Position
Data Reference
Checking the Command Value
Input and Clearing the
Command
With master-side command value input, the S-0-0197, C3300 Set
coordinate system procedure command has to be started by the
master.
See also "Command Input and Acknowledgment" in chapter "Master
Communication"
When the command was acknowledged by the drive, the offset of the
position data reference has to be checked:
• The actual position value (S-0-0051 and possibly S-0-0053) has to
correspond to S-0-0198, Initial coordinate value.
• S-0-0283, Current coordinate offset has to be read. With value
unequal "0" shifting took place; with value "0" either no shifting has
taken place or the actual position value of the axis approximately
equaled the value of S-0-0198 when the position data reference was
shifted.
To check the command value input the master has to preset a position
command value that corresponds to the value of parameter S-0-0198.
Before the master resets the executed command, it is necessary to check
whether the master-side command value corresponds to the current
actual position value of the encoder used in position control (S-0-0051 or
S-0-0053, shifted position data reference). If not, do not clear the
command but reset "AF", if necessary, and search for the cause of the
incorrect command value!
With "shift coordinate system procedure" it is recommended to control the
axis on the master-side with velocity command value "0" or with very low
velocity. But first read S-0-0283, Current coordinate offset. 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"!
After that start C3400 Shift coordinate system procedure command on
the master-side.
See also "Command Input and Acknowledgment" in chapter "Master
Communication"
When the command was acknowledged by the drive, the offset of the
position data reference has to be checked.
• The values of S-0-0283, Current coordinate offset and S-0-0275,
Coordinates of offset value have to correspond to each other.
Before the master resets the executed command, it is necessary to check
whether the master-side command value corresponds to the current
actual position value of the encoder active in position control (S-0-0051 or
S-0-0053, shifted position data reference). If not, do not clear the
command but reset "AF", if necessary, and search for the cause of the
incorrect command value!
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P