Bosch Rexroth IndraDrive MPH-02 Functional Description page 358

Firmware for drive controllers

Table of Contents

Operating Modes

Parameter Setting

Residual Path

Incremental Dimension

Relative Positioning with Residual Path Storage

• P-0-4019, Positioning block mode = 102h

If positioning blocks are interrupted, a distance still to be traveled up to

the target position remains. This remaining distance is the residual path.

In a relative positioning block with residual path storage, the target

position is a relative distance that relates to the target position at which

the message "end position reached" was last active.

Relative positioning blocks with residual path storage are also carried out,

if the drive has not been homed.

By sequencing relative positioning blocks it is possible to position with

incremental dimension. If a relative positioning block with residual path

storage is interrupted, the incremental dimension reference is retained.

If another positioning block is started while such a positioning

block is being carried out, the residual path is rejected. If this

new block is also a relative positioning block with residual path

storage, the target position is related to the current actual

position as a relative distance.

MPH-02, MPB-02, MPD-02

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