Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

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ECODRIVE03-FL*-04VRS Writing the User Program
6-47
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
So that the motor is not overloaded, the torque values should be set by
the MOM command. The start of the positioning move generally occurs
150 ms after the command is loaded.
Note: Before invoking commands PFA and PFI, the torque limit
values must be set by invoking the MOM command.
See also Section 8 function ’Movement to Positive Stop.’
Example:
0100 MOM 1 020 040 00.00.0 400 Torque Reduction:
To positive stop 20%
At positive stop 40%
0101 POA 1 000250.000 999 Initiate movement at maximum
speed.
0102 VCC 1 +000200 100 1 1 Wait until po200 with
v=10% is reached.
0103 PFA 1 +000300.000 100 002 Movement to positive stop until
po300 is reached.
0104 JMP 0200 Jump if positive stop was not
recognized.
0105 BCE 0120 I0.00.7 1 Positive stop was recognized.
Jump if input is 1.
0106 JMP 0105 Wait until input becomes 1.
0120 PSA 1 +000000.000 999 Return to po0
0121 JST 0100 Jump with stop according to
instruction 0100 (wait for next
cycle)
0200 AEA Q0.01.2 1 Set output.
0201 PSA 1 +000000.000 999 Return to po0
0202 JST 0000 Jump with stop according to
instruction 0000.
Fig. 6-22: PFA Command Program Example