Bosch Rexroth IndraDrive MPH-02 Functional Description page 331

Firmware for drive controllers

Table of Contents

MPH-02, MPB-02, MPD-02

Special Cases

DOK-INDRV*-MP*-02VRS**-FK01-EN-P

In this case, T

the positioning generator. Therefore, the cycle time to be used

is different according to the control performance (advanced:

250 µs, basic: 500 µs).

S-0-0193 = 0 switches the smoothing filter off; i.e. the desired

acceleration or deceleration is immediately reached.

Modulo Processing

The S-0-0393, Command value mode parameter controls the drive

behavior in the case of position processing in modulo format. For

S-0-0393 the following definition applies:

• bit 1/0 = 00: positive direction of rotation

• bit 1/0 = 01: negative direction of rotation

• bit 1/0 = 10: shortest path

See also Parameter Description "S-0-0393, Command value

The following special cases apply for evaluating the settings for

parameter S-0-0393:

• If the absolute value of the current actual velocity is greater than the

velocity threshold for positioning (S-0-0417, Velocity threshold for

positioning in modulo format), the drive always moves in the last

active direction of rotation.

• If the target position is within the target position window (S-0-0418),

positioning is always carried out according to the "shortest path" mode.

If the velocity threshold for positioning behavior was

parameterized with very low values that are within the noise

level of the actual velocity value, this can cause unpredictable

See also Parameter Description "S-0-0417, Velocity threshold for

positioning in modulo format", "S-0-0418, Target position window in

modulo format" and "P-0-0050, Effective target position"

Operating Modes

is the cycle time of the position loop or