Bosch Rexroth IndraDrive MPH-02 Functional Description page 434

Firmware for drive controllers

Table of Contents

Drive Functions

Quick Stop in Position Control

Shutdown in Velocity Control

The kind of shutdown, in the case of "Drive Halt", depends on the

operating mode active before.

In position control shutdown is carried out using the values of the

acceleration in S-0-0372, Drive Halt acceleration bipolar and of the jerk

in S-0-0349, Jerk limit bipolar, when a position control mode was active

Operating modes with internal position control are:

• position control with cyclic command value input

• drive-internal interpolation

• drive-controlled positioning (incl. jog mode)

control word

(P-0-0116; bit 13)

standstill window

"Drive Halt"

(P-0-0115; bit 4)

jerk limit bipolar

Drive Halt acceleration bipolar

Principle of "Drive Halt" with position control mode active before

Position-controlled shutdown is carried out with position

control with lag error, if an operating mode that also contained

position control with lag error was active before. If not, the

function is carried out with lagless position control.

If the value in parameter S-0-0372, Drive Halt acceleration

bipolar equals "0", the axis does not stop.

When the operating mode "velocity control" or "torque/force control" was

active before, shutdown is carried out in velocity control using the value in

parameter S-0-0372, Drive Halt acceleration bipolar.

If the contents of S-0-0372, Drive Halt acceleration bipolar

equals "0", deceleration is carried out at the current limit.

MPH-02, MPB-02, MPD-02

activation "Drive Halt" (AH)

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

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