Bosch Rexroth IndraDrive MPH-02 Functional Description page 374

Firmware for drive controllers

Table of Contents

Operating Modes

Interrupting a Sequential Block

Reference Position

All conditions for advance are constantly queried and

evaluated to be able to switch to the correct sequential block

even after the sequential block chain was interrupted. Only the

first condition for advance occurring during an interruption is

recognized, however. All other conditions are not taken into

There are two basically different behaviors when a sequential block chain

is interrupted:

1. residual path is rejected when interruption by:

• positioning stop (S-0-0346, bit 1 and bit 2 = 1)

• jogging +/-

• control voltage "Off"

After interruption with "positioning stop" and "jogging +/-" positioning

always continues at the current actual position. The sequential block

chain interrupted before is not completed but the currently selected

block is carried out. Thereby the incremental dimension reference gets

2. residual path is maintained when interruption by:

removing drive enable

removing the "drive start" signal

changing the operating mode

Depending on the block type of the sequential block chain that was

interrupted and the events occurring during this interruption, the

sequential block chain is processed differently after a restart.

In sequential block mode relative positioning blocks without

residual path storage are not allowed as otherwise the

incremental dimension reference would get lost in the case of

interruption.

Given an interruption, a restart will end the sequential block chain.

The reference position is the original start position of the sequential block

The incremental dimension reference is retained as only

absolute and relative positioning blocks with residual path

storage are used in sequential block mode!

MPH-02, MPB-02, MPD-02

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