Bosch Rexroth IndraDrive MPB-02, Functional Description

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Operating Modes MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Note: In this case, T
A,position
is the cycle time of the position loop or
the positioning generator. Therefore, the cycle time to be used
is different according to the control performance (advanced:
250 µs, basic: 500 µs).
Jerk g Positionin 0193, 0 S
ion Accelerat g Positionin 0260, 0 S
− −
− −
= − −
0042 0 P
or
Jerk g Positionin 0193, 0 S
on Decelerati g Positionin 0359, 0 S
− −
− −
= − −
0042 0 P
Note: S-0-0193 = 0 switches the smoothing filter off; i.e. the desired
acceleration or deceleration is immediately reached.
Command Value Mode in Modulo Format
If modulo format was selected for displaying position data (infinitely
turning axes) and "positive/negative direction of movement" was set in
S-0-0393, Command value mode , the drive moves to the preset target
position in the programmed direction.
Via parameter S-0-0418, Target position window in modulo format it is
possible to set the distance from which on it is the "shortest distance" that
is traveled from actual position value to target position.
The examples below show the behavior of the drive for 3 different start
velocities in the "positive direction" mode and target position outside the
target position window (S-0-0418).
•
Case 1:
current velocity positive and braking distance greater than the distance
between starting position and next target position
→
drive moves to next possible target position
•
Case 2:
current velocity positive and braking distance smaller than the distance
between starting position and next target position
→
drive moves to next possible target position
•
Case 3:
current velocity negative
→
drive brakes to velocity = 0 and positions at next target in positive
direction
The examples below show the behavior of the drive for 4 different start
velocities in the "positive direction" mode and target position within the
target position window (S-0-0418).
•
Case 4:
current velocity positive and braking distance greater than the distance
between starting point and next target point
→
drive moves to next possible target position in positive direction
Braking and moving back would lead to a movement in negative
Positive/Negative Direction of
Movement
"Positive Direction" and Target
Position Outside S-0-0418,
Target Position Window
"Positive Direction" and Target
Position Within S-0-0418, Target
Position Window
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of
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