Notes On Commissioning - Bosch Rexroth IndraDrive MPH-02 Functional Description

MPH-02, MPB-02, MPD-02

Notes on Commissioning

Presettings
Activating the Measuring Wheel
Deactivating the Measuring
Wheel Mode
Setting the Jerk Attenuation
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
First set the parameter values relevant to the mechanical arrangement of
motor, motor encoder, axis and measuring wheel (see fig. "Arrangement
of the measuring wheel encoder in the mechanical drive system").
Mode
Property damage caused by uncontrolled drive
motion if measuring wheel encoder or feed
motor have no contact to the material!
⇒ Only activate
CAUTION
The measuring wheel mode can only be activated when the drive is ready
for operation, by
• command C1700 "measuring wheel mode" (P-0-0240)
- and -
• position-controlled operating mode of the drive.
As the possibly existing position data reference of both encoders to the
axis gets lost, the control master can only move the drive with relative
(material-related) position command value. The position data reference to
the material has to be established on the control side by means of the
actual position value of motor encoder or measuring wheel encoder
transmitted by the drive and an installation-side signal!
Note: The measuring wheel mode only takes effect in position-
controlled operating modes, but can already be activated in
non-position-controlled operating modes. For information on
the actual position values in the case of measuring wheel
mode and switching of operating modes, see above!
The measuring wheel mode can be deactivated by
• resetting the command C1700 "measuring wheel mode",
• switching to communication phase P2,
• switching the drive off.
If position data reference of the encoders to the axis should be required, it
must be established again after the measuring wheel mode has been
deactivated!
Jerky slip phenomena can be attenuated by entering a value greater than
zero in parameter
• P-0-0241, Actual pos. smoothing time constant for hybrid pos.
control.
Note: The value "0" in P-0-0241 switches off the attenuation and
causes only the actual position value of the measuring wheel
encoder to be effective!
Procedure:
1. Enter value "0" in parameter P-0-0241 and move axis at low infeed
velocity.
2. Increase infeed velocity up to maximum velocity.
While increasing the velocity also increase the value of P-0-0241, if
necessary, in order to achieve a satisfactory compromise of
measuring
measuring wheel is moved by the material in a
frictionally engaged way!
8-77
Drive Functions
wheel mode if the