Bosch Rexroth IndraDrive MPH-02 Functional Description page 399

Firmware for drive controllers

Table of Contents

MPH-02, MPB-02, MPD-02

Synchronization Mode

"Standard" Mode

(P-0-0155, bit 0 = 0)

of slave axis

operating mode

synchronization

(P-0-0152, bit 0)

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

Standard/Register Controller Synchronization

In the synchronous position control modes it is possible to determine, in

parameter P-0-0155, Synchronization mode, the synchronization mode

for the reaction to further changes in parameter S-0-0048, Position

command value additional after the absolute synchronization has been

reached for the first time.

In the "standard" synchronization mode all further changes in the additive

position command value are processed with the values determined in the

following parameters:

• P-0-0142, Synchronization acceleration

• P-0-0143, Synchronization velocity

• P-0-0151, Synchronization init window for modulo format

• P-0-0154, Synchronization direction

The status bit "synchronization completed" is only set when

the condition P-0-0434 = S-0-0048 + x

synchronization

"Standard" synchronization mode

During synchronization in the "standard" mode the command values are

monitored with regard to S-0-0091, Bipolar velocity limit value and

S-0-0138, Bipolar acceleration limit value. If the command values

exceed the limit values, the error messages F2037 Excessive position

command difference or F2039 Maximum acceleration exceeded are

Operating Modes

change of additive position

command value (S-0-0048)

to change of

additive pos. cmd value

DK000045v01_en.fh7

has been fulfilled.