Bosch Rexroth IndraDrive MPH-02 Functional Description page 205

Firmware for drive controllers

Table of Contents

MPH-02, MPB-02, MPD-02

Parameter Scaling

(Individually Defined)

Torque/Force Data

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

Motor, Mechanical Axis System, Measuring Systems

As an alternative to preferred scaling it is also possible to activate

parameter scaling. For parameter scaling the least significant bit (LSB) of

the respective operating data can be individually defined.

With scaling factor unequal 1 the unit is no longer indicated as in

With rotational resolutions (S-0-0079) the results of which are not

powers of 10 of 360, the units are no longer "angular degrees" (acc.

to S-0-0076) but only "incremental" (control-dependent unit

Defining the least significant bit (LSB) for parameter scaling

The jerk data scaling is derived from the acceleration data

Respective units of measurement and time defined in the parameters:

• S-0-0076, Position data scaling type

• S-0-0044, Velocity data scaling type

• S-0-0160, Acceleration data scaling type

Respective scaling factor and scaling exponent defined in the following

• S-0-0077, Linear position data scaling factor position data

S-0-0078, Linear position data scaling exponent

• S-0-0045, Velocity data scaling factor

S-0-0046, Velocity data scaling exponent

• S-0-0161, Acceleration data scaling factor

S-0-0162, Acceleration data scaling exponent

For rotary position data the value, in the case of parameter scaling, for the

• S-0-0079, Rotational position resolution

has to be determined for defining the LSB.

For torque/force data there are the following basic scaling types:

• percentage-based

"incrementally"

(control-dependent