Bosch Rexroth IndraDrive MPH-02 Functional Description page 547

MPH-02, MPB-02, MPD-02
Incremental Encoder Emulation
Absolute Encoder Emulation
Hardware Requirements
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Incremental encoder emulation is the simulation of a real incremental
encoder by the drive controller.
In the form of incremental encoder signals, a higher-level numeric
control (NC) receives information about the velocity of the motor
connected to the controller. By integration of these signals the control unit
receives the required position information and it is thereby possible to
close a higher-level position control loop.
Note: Emulation is scaling-dependent (cf. S-0-0076) and the
resolution is
4 increments!).
Absolute encoder emulation means that the drive controller has the option
of simulating a real absolute encoder in SSI data format. It is thereby
possible to transmit the position in the SSI data format to the connected
control unit (NC) and to close the position control loop via the control unit.
Note: Emulation is scaling-dependent (cf. S-0-0076) and the
resolution is input is bits.
The encoder emulation function requires the following control section
design:
• single-axis BASIC ANALOG (not configurable)
In addition it is possible to use the following configurable control sections
if they have been designed with the optional module MEM:
• single-axis BASIC UNIVERSAL
• single-axis ADVANCED
• double-axis BASIC UNIVERSAL
Note: Encoder emulation is always related to the device, i.e. with a
double-axis device (CDB01.1C) emulation can only be used
for one of the two axes at a time.
Features
• cyclic calculation of the position or increments output by the emulator
in the position loop clock
• freely selectable position signals for emulation (P-0-0900, P-0-0901)
• consistently parameterizable resolution for incremental and absolute
encoder emulation in increments (revolution or increments/mm)
→ P-0-0903
• scaling-related emulation (SSI and incremental) → S-0-0076
• dead-time compensation to be activated for incremental encoder
emulation (cf. P-0-0902, bit 3)
• zero pulse to be shifted for incremental encoder emulation
(cf. P-0-0904)
• parameterizable cyclic zero pulse output for incremental encoder
emulation referring to zero pulse distance (cf. P-0-0904) and position
data reference (cf. P-0-0902)
Extended Drive Functions
input in lines (1 line
(CSB01.1C)
(CSH01.1C)
(CDB01.1C)
9-19
corresponding to
(CSB01.1N-AN)