Bosch Rexroth IndraDrive MPH-02 Functional Description page 369

Firmware for drive controllers

Table of Contents

MPH-02, MPB-02, MPD-02

Parameter Setting

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

Positioning block

Positioning block

acknowledgment

Drive HALT (AH):

Master control

word (bit 13)

end position reached:

Positioning block

status word (bit 4)

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

Example: position-dependent block advance (mode 2)

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.

c) Block transition with intermediate stop

• P-0-4019, Positioning block mode = 41h

→ absolute block with sequential block

• P-0-4019, Positioning block mode = 42h

→ relative block with sequential block

In this mode the drive positions at the target position of the start block.

Once the position command value is at the target position, the sequential

block is automatically started without a new start signal having been given

Another operating mode is switching when overrunning the target position

with intermediate stop.

Operating Modes

positioning block 01

positioning block 02

communication, positioning block

DK000033v02_en.fh7