Bosch Rexroth IndraDrive MPH-02 - Command Value Processing with Drive-Internal Interpolation

MPH-02, MPB-02, MPD-02 Operating Modes 7-23
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
• S-0-0393, Command value mode
• S-0-0417, Velocity threshold for positioning in modulo format
• S-0-0418, Target position window in modulo format
• S-0-0430, Effective target position
• S-0-0437, Positioning status word
• P-0-0434, Position command value controller
Pertinent Diagnostic Messages
• A0106 Drive controlled interpolation, encoder 1
• A0107 Drive controlled interpolation, encoder 2
• A0108 Drive controlled interpolation, lagless, encoder 1
• A0109 Drive controlled interpolation, lagless, encoder 2
• E2047 Interpolation velocity = 0
• E2048 Interpolation acceleration = 0
• E2049 Positioning velocity >= S-0-0091
• E2053 Target position out of travel range
• E2055 Feedrate-override S-0-0108 = 0
Command Value Processing with Drive-Internal Interpolation
The target position can be cyclically preset via parameter S-0-0258,
Target position.
The drive generates the position command value profile necessary to
move to the target position, considering the requirements defined in the
following parameters:
• S-0-0259, Positioning Velocity
• S-0-0260, Positioning Acceleration
• S-0-0359, Positioning Deceleration
• S-0-0193, Positioning Jerk
• S-0-0108, Feedrate override
Note: The target position preset by the master is displayed in
parameter P-0-0050.
S-0-0258
S-0-0430
S-0-0260/S-0-0359
S-0-0259/S-0-0108
S-0-0193
S-0-0260/S-0-0359
P-0-0434
E2049
E2055
S-0-0393
S-0-0342
S-0-0343
S-0-0437
S-0-0418
S-0-0417
DF000011v01_en.fh7
Operating mode:
drive-internal interpolation
x
cmd
generator
mod
position loop
Fig. 7-13: Command value processing with "drive-internal interpolation"
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