Bosch Rexroth IndraDrive MPH-02 - Page 333

MPH-02, MPB-02, MPD-02 Operating Modes 7-27
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
The figures below illustrate the operating principle of the status
messages:
v
DK000055v01_en.fh7
X
target
position
positioning
velocity
starting
position
Fig. 7-14: Travel profile to explain how the interpolation status messages work
In this example, the drive is at the starting position when the new target
position is preset.
The result is the following time diagram:
v
x
x
0
1
0
1
0
1
0
DK000056v01_en.fh7
pos. cmd val.
act. pos. val.
target position
starting position
lag error
(drawing
magnified)
S-0-0013, bit 12
target position
attained
S-0-0437, bit 1
in target position
actual velocity
value
S-0-0437, bit 2
IZP
t
t
t
t
t
t
t
positioning
window
positioning
window
positioning
window
standstill
window
Fig. 7-15: Generating the status bits of the operating modes with drive-internal
interpolation
Courtesy of CMA/Flodyne/Hydradyne ▪ Motion Control ▪ Hydraulic ▪ Pneumatic ▪ Electrical ▪ Mechanical ▪ (800) 426-5480 ▪ www.cmafh.com