A0151 Drive-Controlled Positioning, Encoder 1, Lagless - Bosch Rexroth IndraDrive Troubleshooting Manual

Rexroth IndraDrive

A0151 Drive-controlled positioning, encoder 1, lagless

DOK-INDRV*-GEN-**VRS**-WA01-EN-P
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
Supported by Firmware Variant:
From the master the drive receives a position command value in the
S-0-0282, Positioning command value parameter. This distance, when
the status of bit 0 of parameter S-0-0346, Positioning command strobe
changes, is copied to S-0-0430, Effective target position or, in the case
of a relative input, added to the value in S-0-0430, Effective target
position. The drive then generates (interpolates) an internal position
command value characteristic in order to get from the current position to
this target position. This is done considering the limit values for velocity,
acceleration and jerk in the following parameters:
• S-0-0259, Positioning Velocity,
• S-0-0260, Positioning Acceleration,
• S-0-0359, Positioning Deceleration and
• S-0-0193, Positioning Jerk.
The drive laglessly moves to the target position (prerequisite: P-0-0040,
Velocity feedforward evaluation=100%).
"Encoder 1" means that the encoder assigned by means of P-0-0077,
Assignment motor encoder->optional slot is used as a control
encoder.
See also Functional Description "Drive Controlled Positioning"
A0151 - Attributes
Display: AF
Mess. no.: A0151 (hex)
Status Diagnostic Messages
FWA-INDRV*-MPH02VRS-MS
FWA-INDRV*-MPB02VRS-MS
FWA-INDRV*-MPD02VRS-MS
6-27