Bosch Rexroth IndraDrive MPH-02 Functional Description page 350

Firmware for drive controllers

Table of Contents

Operating Modes

Effective Acceleration and

Deceleration

Jerk Limitation by Jerk Filter

The maximum deceleration is specified by parameter P-0-4063,

Positioning block deceleration.

When P-0-4063 was parameterized with value "0", the warning

E2048 Interpolation acceleration = 0 is generated.

Property damage!

If the acceleration or deceleration values are equal to

zero, the drive can no longer brake. The specified target

is never reached or overrun.

⇒ Set acceleration value > 0

Further limitation takes place by the value of parameter

S-0-0138, Bipolar acceleration limit value because this limit

value takes effect in all operating modes with position control.

In the "positioning block" mode the position command value can be

filtered at the output of the positioning generator. The filter order of the

(moving) average filter available to do this (cf. P-0-0041 and P-0-0042) is

calculated on the basis of the preset positioning acceleration or the

positioning jerk.

This means that the parameterized acceleration or deceleration only

become effective after t = P-0-0042 * T

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).

With value equal zero in parameter P-0-4009 the smoothing

filter is switched off, i.e. the desired acceleration or

deceleration is immediately reached.

MPH-02, MPB-02, MPD-02

is the cycle time of the position loop or

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