Bosch Rexroth IndraDrive MPH-02 Functional Description page 370

Firmware for drive controllers

Table of Contents

Operating Modes

Positioning block

Positioning block

acknowledgment

Drive HALT (AH):

Master control

word (bit 13)

end position reached:

Positioning block

status word (bit 4)

in standstill:

diagnostics (bit 1)

positioning block

P-0-4060 (bit 0)

Positioning command

positioning inputs valid

positioning acknowledgment outputs show negated status

of positioning inputs

after valid block acceptance, positioning acknowledgment outputs

show non-inverted status of positioning inputs

In this case, the drive is decelerated to speed "0" at the target position

and then accelerated to the new positioning velocity.

Advance takes place when the internal command value

generator has reached the target position. With very low jerk

values the resulting dwell time is relatively long.

positioning block 01

Example: sequential block advance for target position with

intermediate stop

According to master

acceptance takes place by toggling bit 0 in S-0-0346 or by a 0-

1 edge of bit 0 in P-0-4060.

MPH-02, MPB-02, MPD-02

target position

positioning block 02

DK000034v01_en.fh7

communication, positioning block

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