Bosch Rexroth IndraDrive MPH-02 Functional Description page 473

Firmware for drive controllers

Table of Contents

MPH-02, MPB-02, MPD-02

Error Reaction "Return Motion"

with Activated Position Limit

Sequence of Error Reaction with

Motor Holding Brake Available

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

actual velocity

DK000016v01_en.fh7

Sequence of "return motion" error reaction

When the drive-internal position limit values (S-0-0049, Positive position

limit value and S-0-0050, Negative position limit value) were activated,

• bit 4 for "activating the position limit values" was set to "1" in S-0-0055,

Position polarities

• the encoder selected via S-0-0147, Homing parameter (bit 3) is in

reference (S-0-0403, Position feedback value status = 1),

it is ensured that the drive does not leave the defined allowed travel range

by executing the "return motion" error reaction.

When the drive is in a position in which the execution of the

return motion would exceed a position limit value, the drive in

this case only moves up to shortly before the respective

position limit value (exactly S-0-0057, Position window

before the position limit value).

The sequence of the error reaction with motor holding brake available is

described in chapter "Motor, Mechanical Axis System, Measuring

Systems" in section "General Information on the Operation of Motors with

IndraDrive" under "Motor Holding Brake: Error Situation 1".

AF reset by NC or error with "return motion"

error reaction

drive disables NC command values

value of S-0-0124

class 3 diagnostics

drive off delay time

standstill window

maximum drive off delay time

device control: status word

Drive Functions

(AF internal)

target pos. reached