Functional Description - Bosch Rexroth IndraDrive MPH-02 Functional Description

MPH-02, MPB-02, MPD-02

Functional Description

DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Pertinent Parameters
• S-0-0092, Bipolar torque/force limit value
• S-0-0124, Standstill window
• S-0-0149, C1300 Positive stop drive procedure command
Pertinent Diagnostic Messages
• C1300 Positive stop drive procedure command
• C1301 Class 1 diagnostics error at command start
Moving a machine axis to a limit stop in a position-controlled way, e.g. for
generating a force of pressure, is a process specifically provoked on the
master side. To do this the master inputs a command value for the drive
that the axis cannot reach because the mechanical limit stop is situated
before it.
In order to avoid error messages and reactions with the drive having been
blocked, the execution of C1300 Positive stop drive procedure
command (S-0-0149) is started before the limit stop is reached. This
switches off the following monitors that would cause class 1 diagnostic
errors:
• monitor "drive does not follow command value"
(F2028 Excessive deviation)
• velocity command value monitor
(F2037 Excessive position command difference)
• acceleration command value monitor
(F2039 Maximum acceleration exceeded)
• velocity control loop monitor
(F8078 Speed loop error)
The command is acknowledged on the following conditions:
• The axis has stopped, i.e. the actual velocity value (S-0-0040) has
fallen below the velocity threshold in parameter S-0-0124, Standstill
window.
- and -
• The generated torque or force has exceeded a threshold value, i.e. the
actual torque/force value (S-0-0084) is greater than the value in
parameter S-0-0092, Bipolar torque/force limit value.
The two criteria for command acknowledgment can be set axis-
specifically.
By resetting the command C1300 the monitors are switched on again!
Property damage can be caused by moving to
positive stop too rapidly!
⇒ Reduce moving velocity and torque/force limit value
(S-0-0092) to values that are not causing damage to
CAUTION
the mechanical system!
Note: If the drive already signals a class 1 diagnostics error (e.g. has
already reached positive stop), the command "positive stop
drive procedure" cannot be started!
8-79
Drive Functions