Bosch Rexroth IndraDrive MPH-02 Functional Description page 550

9-22
Extended Drive Functions
Resolution
Unit of the Emulated Position
The figure below illustrates the format and time flow of the incremental
encoder signals:
track A
track B
zero pulse
t1
t1 < 50 ns
Fig. 9-11: Time flow of the incremental encoder signals
Resolution and Unit of the Emulated Signal
The number of increments of the emulated incremental encoder can be
determined in parameter P-0-0903, Encoder emulation resolution in
lines/revolution (or mm or inch for linear motors).
The input range and the unit of the value in parameter P-0-0903 are
depending on the following settings:
• type of construction of motor
• rotary motors
• linear motors
•
parameterized scaling
(cf. S-0-0076, Position data scaling type)
Note: The emulated encoder therefore is parameterized according to
the usual formats for rotary and linear square-wave encoders
in lines/revolution or mm or inch.
Reference of the Emulated Position – Zero Pulse Output
The zero pulses are output immediately after the drive was run up to the
operating mode in the distance of the lines entered in P-0-0905 resp. mm
or inch.
Depending on the setting of bit 7 in P-0-0902, Encoder emulation
control parameter, the zero pulses are output in different ways:
• P-0-0902, bit 7 = 0
The zero pulses are output immediately after progressing to the
operating mode (phase 4), independent of whether the drive has been
homed or not. The output zero pulses only then have a fixed reference
to the machine zero pulse, when the following conditions have been
fulfilled:
• When a relative encoder is used, this encoder has been homed (cf.
S-0-0403) or an absolute encoder is used.
• "Motor reference" was parameterized in parameter S-0-0076.
• The encoder-side gear is "1".
• P-0-0902, bit 7 = 1
The zero pulses are only output after progressing to the operating
mode (phase 4), if the drive has been homed. The output zero pulses
MPH-02, MPB-02, MPD-02
one line
t1
→ lines / revolution
→ mm or inch
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
square-wave
pulses with view
to motor shaft
and clockwise
rotation
DK000050v01_en.fh7