Bosch PIN8 N1 Průvodce řešením problémů

R911299225Edition 01Rexroth IndraDriveFirmware for Drive ControllersMPH-02, MPB-02, MPD-02Functional DescriptionIndustrialHydraulicsElectric Drivesand

VIII Contents MPH-02, MPB-02, MPD-02DOK-INDRV*-MP*-02VRS**-FK01-EN-P10.11 Serial Communication ...

4-46 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PLength of the Process Data Channel (Real-Time DataChannel)W

MPH-02, MPB-02, MPD-02 Master Communication 4-47DOK-INDRV*-MP*-02VRS**-FK01-EN-P Object Directory for PROFIBUS-DP (ProfiDrive)For PROFIBUS-D

4-48 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PWithout considering a fragmentation or an error, the parame

MPH-02, MPB-02, MPD-02 Master Communication 4-49DOK-INDRV*-MP*-02VRS**-FK01-EN-P The control unit writes a new operating data to parameter S

4-50 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe control unit writes data to parameter P-0-4006. It is a

MPH-02, MPB-02, MPD-02 Master Communication 4-51DOK-INDRV*-MP*-02VRS**-FK01-EN-P Parameter Exchange via DPV1 ServicesThe parameter exchange

4-52 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PProfiDrive parameter request via DPV1request reference1 to

MPH-02, MPB-02, MPD-02 Master Communication 4-53DOK-INDRV*-MP*-02VRS**-FK01-EN-P Monitoring Functions and Diagnostic FunctionsMonitoring Fun

4-54 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PError Codes of PROFIBUS CommunicationError code Significanc

MPH-02, MPB-02, MPD-02 Master Communication 4-55DOK-INDRV*-MP*-02VRS**-FK01-EN-P 0x3004 Attribute cannot be changed (read only)0x4001 No uni

MPH-02, MPB-02, MPD-02 System Overview 1-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 1 System Overview1.1 General InformationOverview of Drive Firmwar

4-56 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P4.6 Parallel InterfaceBrief DescriptionIt is possible to op

MPH-02, MPB-02, MPD-02 Master Communication 4-57DOK-INDRV*-MP*-02VRS**-FK01-EN-P The enable signal is accepted, i.e. the drive switches fro

4-58 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PBit number insignal control wordDigital inputof the paralle

MPH-02, MPB-02, MPD-02 Master Communication 4-59DOK-INDRV*-MP*-02VRS**-FK01-EN-P 8 X15 pin 339 X15 pin 1510 X15 pin 3411 X15 pin 1612 X15 pi

4-60 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PBit number insignal controlwordConfiguredparameter Function

MPH-02, MPB-02, MPD-02 Master Communication 4-61DOK-INDRV*-MP*-02VRS**-FK01-EN-P Change of Operating Mode via Parallel InterfaceTo change th

4-62 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P See also descriptions of the respective parameters in th

MPH-02, MPB-02, MPD-02 Master Communication 4-63DOK-INDRV*-MP*-02VRS**-FK01-EN-P 4.7 Analog InterfaceBrief DescriptionOverviewApart from the

4-64 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFeaturesThe analog interface is an interface for master com

MPH-02, MPB-02, MPD-02 Master Communication 4-65DOK-INDRV*-MP*-02VRS**-FK01-EN-P Pertinent Parameters• P-0-0115, Device control: status wor

1-2 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-POrganization of the FirmwareFor application-specific definition o

4-66 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFunctional DescriptionControlling the DriveWith the analog

MPH-02, MPB-02, MPD-02 Master Communication 4-67DOK-INDRV*-MP*-02VRS**-FK01-EN-P When drive enable is set and the "Drive Halt" sig

4-68 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes on Commissioning/ParameterizationEncoder EmulationIn

MPH-02, MPB-02, MPD-02 Master Communication 4-69DOK-INDRV*-MP*-02VRS**-FK01-EN-P • in target position during spindle positioning(S-0-0336,

4-70 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDiagnostic and Status MessagesInformation on General Drive

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 5 Motor, Mechanical Axis System

5-2 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: Rexroth motors, by motor-s

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P • P-0-0512, Temperature sensor•

5-4 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: In the case of MHD, MKD, L

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P When this function is activated,

MPH-02, MPB-02, MPD-02 System Overview 1-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P Saving application-specific parameter values is required in the f

5-6 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-0539, Holding brake statu

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P See also "Basic Functions o

5-8 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PYou have to distinguish the foll

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P releasedapplied10(AF internal)DK

5-10 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Preleasedapplied10(AF internal)D

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-11DOK-INDRV*-MP*-02VRS**-FK01-EN-P 10releasedapplied(AF internal)D

5-12 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• In the case of main drives,

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-13DOK-INDRV*-MP*-02VRS**-FK01-EN-P The controller can check the ef

5-14 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pcommand has been completed, the

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-15DOK-INDRV*-MP*-02VRS**-FK01-EN-P In this parameter enter the det

1-4 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe drive firmware allows activating and deactivating the write p

5-16 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe appropriate value for P-0-0

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-17DOK-INDRV*-MP*-02VRS**-FK01-EN-P CAUTIONProperty damage caused b

5-18 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• kit motors to be installed i

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-19DOK-INDRV*-MP*-02VRS**-FK01-EN-P Rexroth Housing Motors with Enc

5-20 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-3004, Speed controller s

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-21DOK-INDRV*-MP*-02VRS**-FK01-EN-P • While the default control lo

5-22 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PlqMd100 pmf50 pmfMdtDg5005f

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-23DOK-INDRV*-MP*-02VRS**-FK01-EN-P Rexroth Kit MotorsGeneral Infor

5-24 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• measuring method for motor e

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-25DOK-INDRV*-MP*-02VRS**-FK01-EN-P Rexroth Kit Motors, Asynchronou

MPH-02, MPB-02, MPD-02 System Overview 1-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P Operating ModesThe selection of operating modes defines which com

5-26 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFor successfully controlling a

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-27DOK-INDRV*-MP*-02VRS**-FK01-EN-P Requirements on Third-Party Mot

5-28 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PAvailable third-party motor Pla

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-29DOK-INDRV*-MP*-02VRS**-FK01-EN-P • P0-0510, Moment of inertia o

5-30 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: For more details on motor

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-31DOK-INDRV*-MP*-02VRS**-FK01-EN-P Asynchronous motors can also be

5-32 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PConverting the Parameter values

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-33DOK-INDRV*-MP*-02VRS**-FK01-EN-P 100040040P00180P300510P40040P00

5-34 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PParameters for Synchronous Moto

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-35DOK-INDRV*-MP*-02VRS**-FK01-EN-P Required type plate data:1. Rat

1-6 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PErrorsDepending on the active operating mode and the parameter se

5-36 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-POther internally calculated mot

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-37DOK-INDRV*-MP*-02VRS**-FK01-EN-P Calculating the torque/force co

5-38 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFor asynchronous motors there u

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-39DOK-INDRV*-MP*-02VRS**-FK01-EN-P )R2+(R40480PDr* VU-=−−P-0-4048

5-40 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFor asynchronous motors the val

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-41DOK-INDRV*-MP*-02VRS**-FK01-EN-P slip increase only takes effect

5-42 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PIf the values of the manufactur

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-43DOK-INDRV*-MP*-02VRS**-FK01-EN-P ()St)-(AISt)-R(AlSt)-H(AlSt)-RR

5-44 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PForms for Required Manufacturer

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-45DOK-INDRV*-MP*-02VRS**-FK01-EN-P Form for Output Data of Synchro

MPH-02, MPB-02, MPD-02 System Overview 1-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P If a drive error occurs while operating with drive enable having

5-46 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PForm for Output Data of Motor T

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-47DOK-INDRV*-MP*-02VRS**-FK01-EN-P Forms for Parameter ValuesForm

5-48 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PForm "Parameters for Synch

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-49DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningFirst che

5-50 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• C3205 Incorrect input for po

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-51DOK-INDRV*-MP*-02VRS**-FK01-EN-P Position measuring systems are

5-52 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: The following applies to

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-53DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: In the case of Rexroth ho

5-54 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pmotor encoder: internal encoder

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-55DOK-INDRV*-MP*-02VRS**-FK01-EN-P The position control itself wor

1-8 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P The detailed description of the parameters, their function and

5-56 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PSet the resolution (number of l

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-57DOK-INDRV*-MP*-02VRS**-FK01-EN-P Monitoring the encoder signals

5-58 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PAnalog sine encoder signals are

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-59DOK-INDRV*-MP*-02VRS**-FK01-EN-P When the drive is switched off

5-60 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Ptherefore be switched off in th

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-61DOK-INDRV*-MP*-02VRS**-FK01-EN-P If the actual position value di

5-62 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PWhen temporarily incorrect enco

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-63DOK-INDRV*-MP*-02VRS**-FK01-EN-P For kit motors or directly at t

5-64 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: If absolute evaluation of

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-65DOK-INDRV*-MP*-02VRS**-FK01-EN-P yes no P-0-0019 P-0-0019 Initia

MPH-02, MPB-02, MPD-02 System Overview 1-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: In many cases the availability of certain functions within

5-66 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PIf the absolute encoder range o

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-67DOK-INDRV*-MP*-02VRS**-FK01-EN-P At a defined position the actua

5-68 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe controller is told via S-0-

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-69DOK-INDRV*-MP*-02VRS**-FK01-EN-P 01170SXref01650S :encoder

5-70 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes on Commissioning The co

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-71DOK-INDRV*-MP*-02VRS**-FK01-EN-P For information on encoder eval

5-72 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PIndraDrive controllers can eval

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-73DOK-INDRV*-MP*-02VRS**-FK01-EN-P • S-0-0115, Position feedback

5-74 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• In the case of rotary kit mo

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-75DOK-INDRV*-MP*-02VRS**-FK01-EN-P gear encoder 1motor encoder(enc

About this Documentation MPH-02, MPB-02, MPD-02DOK-INDRV*-MP*-02VRS**-FK01-EN-PRexroth IndraDriveFirmware für Drive ControllersMPH-02, MPB-02, MPD-02F

1-10 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P1.2 Drive ControllersOverviewDesign of the IndraDrive Controller

5-76 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes on Commissioning The co

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-77DOK-INDRV*-MP*-02VRS**-FK01-EN-P Scaling of Physical DataBrief D

5-78 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFor technical reasons, the valu

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-79DOK-INDRV*-MP*-02VRS**-FK01-EN-P Depending on the scaling type s

5-80 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPhysicaldataScaling type Unit S

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-81DOK-INDRV*-MP*-02VRS**-FK01-EN-P As an alternative to preferred

5-82 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: It is only possible to se

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-83DOK-INDRV*-MP*-02VRS**-FK01-EN-P linear motorgear encoder1motor

5-84 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pactual position valuedisplayed

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-85DOK-INDRV*-MP*-02VRS**-FK01-EN-P WARNINGPossible property damage

MPH-02, MPB-02, MPD-02 System Overview 1-11DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The available control sections are described in the separa

5-86 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• Only load reference is possi

MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems 5-87DOK-INDRV*-MP*-02VRS**-FK01-EN-P To do this, set the respective

5-88 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDiagnostic Messages of Scaling

MPH-02, MPB-02, MPD-02 Drive Control 6-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 6 Drive Control6.1 Overview of Drive ControlThe IndraDrive firmwar

6-2 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PClosed Loop Axis Control (Closed-Loop Operation)In the case of clos

MPH-02, MPB-02, MPD-02 Drive Control 6-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P Cycle Times and PWM FrequenciesDepending on the firmware type (MPH,

6-4 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-POpen-loop U/f motor control is characterized by the following featu

MPH-02, MPB-02, MPD-02 Drive Control 6-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P • P-0-0576, Search mode: finding point slip factor• P-0-0577, Squ

6-6 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PP-0-0048S-0-0040P-0-0045P-0-0570+P-0-0571P-0-0443P-0-0442P-0-0043P-

MPH-02, MPB-02, MPD-02 Drive Control 6-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: With a value of "0.00%" in parameter P-0-0572 the s

1-12 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PControl Section ConfigurationThe parts of the type designations

6-8 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PP-0-0048motor dataP-0-0573+DF000118v01_en.fh7currentcommutationand

MPH-02, MPB-02, MPD-02 Drive Control 6-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P P-0-0048S-0-0107S-0-0106P-0-4040P-0-4046DF000120v01_en.fh7currentco

6-10 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe activation of the stall protection loop is displayed in parame

MPH-02, MPB-02, MPD-02 Drive Control 6-11DOK-INDRV*-MP*-02VRS**-FK01-EN-P The field-oriented closed-loop current control has the following g

6-12 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPower monitoring:• S-0-0158, Power threshold Px• S-0-0337, Messa

MPH-02, MPB-02, MPD-02 Drive Control 6-13DOK-INDRV*-MP*-02VRS**-FK01-EN-P nPSv5025f 1.fh712 3n2n1PmaxPS1Fig. 6-12: Working rangesThe base s

6-14 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P----S-0-0040voltageloopP-0-4005P-0-4045P-0-4046P-0-0043S-0-0107S-0

MPH-02, MPB-02, MPD-02 Drive Control 6-15DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: Utilization of the reluctance effect allows increasing theav

6-16 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PIn addition, magnetization can be influenced via bit 2 of P-0-0045

MPH-02, MPB-02, MPD-02 Drive Control 6-17DOK-INDRV*-MP*-02VRS**-FK01-EN-P The flux loop works as a P-loop with command value feedforward. It

MPH-02, MPB-02, MPD-02 System Overview 1-13DOK-INDRV*-MP*-02VRS**-FK01-EN-P Possible types:1) … Master communication:SE → SERCOS interfacePB

6-18 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: The voltage loop is only active when bit 0 has been set (fie

MPH-02, MPB-02, MPD-02 Drive Control 6-19DOK-INDRV*-MP*-02VRS**-FK01-EN-P • C0132 Invalid settings for controller cycle timesAn error in th

6-20 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: If you use an incremental motor encoder, using the Hallsenso

MPH-02, MPB-02, MPD-02 Drive Control 6-21DOK-INDRV*-MP*-02VRS**-FK01-EN-P • saturation method (without constraint of motion)(with current →

6-22 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PApart from the motor parameters (see parameter overview in "B

MPH-02, MPB-02, MPD-02 Drive Control 6-23DOK-INDRV*-MP*-02VRS**-FK01-EN-P Determining the Commutation Offset, CalculationMethod when Using t

6-24 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe input value in P-0-0523 required for determining the commutati

MPH-02, MPB-02, MPD-02 Drive Control 6-25DOK-INDRV*-MP*-02VRS**-FK01-EN-P The motor constant kmx for setting the commutation offset depends

6-26 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PExample 3, reference point ö (fig. "Measuring the relative po

MPH-02, MPB-02, MPD-02 Drive Control 6-27DOK-INDRV*-MP*-02VRS**-FK01-EN-P • C1215 Command only possible in ’bb’• C1216 Commutation determi

1-14 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P3) … optional module 2 (X8):NNN → not equippedEN1 → encoder inte

6-28 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P2. Make presettings for automatic determination of motor-specific

MPH-02, MPB-02, MPD-02 Drive Control 6-29DOK-INDRV*-MP*-02VRS**-FK01-EN-P 4. After the current was supplied and the commutation offset valu

6-30 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P7. In P-0-0522, Commutation setting control word deactivate theini

MPH-02, MPB-02, MPD-02 Drive Control 6-31DOK-INDRV*-MP*-02VRS**-FK01-EN-P Determining the Commutation Offset, Sine-Wave MethodThe sine-wave

6-32 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe execution of the command is now completed, it can be reset. Th

MPH-02, MPB-02, MPD-02 Drive Control 6-33DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: It is recommended to execute the command C1200 severaltimes

6-34 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PRecommissioning of Synchronous Motors withIncremental Measuring Sy

MPH-02, MPB-02, MPD-02 Drive Control 6-35DOK-INDRV*-MP*-02VRS**-FK01-EN-P masteroper. mode 2oper. mode 1DF000090v01_en.fh7open-loop drive co

6-36 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPertinent Diagnostic Messages• F8079 Velocity limit S-0-0091 exce

MPH-02, MPB-02, MPD-02 Drive Control 6-37DOK-INDRV*-MP*-02VRS**-FK01-EN-P 6.4 Axis Control (Closed-Loop Operation)OverviewControl Loop Stru

MPH-02, MPB-02, MPD-02 System Overview 1-15DOK-INDRV*-MP*-02VRS**-FK01-EN-P 1.3 Motors and Measuring SystemsSupported MotorsThe following R

6-38 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PS-0-0051S-0-0053S-0-0037S-0-0081IPOS-0-0124S-0-0155DF0001v2.fh7S-0

MPH-02, MPB-02, MPD-02 Drive Control 6-39DOK-INDRV*-MP*-02VRS**-FK01-EN-P The following cycle times and PWM frequencies can be set:P-0-0556(

6-40 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PIn velocity control:• S-0-0037, Additive velocity command value•

MPH-02, MPB-02, MPD-02 Drive Control 6-41DOK-INDRV*-MP*-02VRS**-FK01-EN-P The "torque/force control" mode actually isn’t torque or

6-42 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: In order to start the "load defaults procedure" co

MPH-02, MPB-02, MPD-02 Drive Control 6-43DOK-INDRV*-MP*-02VRS**-FK01-EN-P • possible settings in P-0-0165, Selection for autom. controller

6-44 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PSince the axis must be moved in order to identify and set the cont

MPH-02, MPB-02, MPD-02 Drive Control 6-45DOK-INDRV*-MP*-02VRS**-FK01-EN-P Before starting the command "automatic control loop setting&q

6-46 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDC000010v01_en.FH7yesmove to center positiondetermine inertianonoy

MPH-02, MPB-02, MPD-02 Drive Control 6-47DOK-INDRV*-MP*-02VRS**-FK01-EN-P See Parameter Description "P-0-0165, Selection for autom. con

1-16 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P1.4 Master CommunicationIn the firmware version FWA-INDRV*-MP*-0

6-48 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PINBWG (moving)drive enablestart of automat.controller settingdiagn

MPH-02, MPB-02, MPD-02 Drive Control 6-49DOK-INDRV*-MP*-02VRS**-FK01-EN-P INBWG (moving)drive enablettAbAFAHAFC1800standstill windowSV5009D2

6-50 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• S-0-0260, Positioning AccelerationIn this parameter you have to

MPH-02, MPB-02, MPD-02 Drive Control 6-51DOK-INDRV*-MP*-02VRS**-FK01-EN-P The velocity loop is a PI loop that can be parameterized via S-0-0

6-52 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-2100, Velocity controller proportional gain, encoder memory

MPH-02, MPB-02, MPD-02 Drive Control 6-53DOK-INDRV*-MP*-02VRS**-FK01-EN-P When using a load-side encoder the velocity control loop includes

6-54 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe illustration below shows the position of the filters in the ov

MPH-02, MPB-02, MPD-02 Drive Control 6-55DOK-INDRV*-MP*-02VRS**-FK01-EN-P For each filter it is possible to set center frequency and bandwid

6-56 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: When using the smoothing filters, take into account that eac

MPH-02, MPB-02, MPD-02 Drive Control 6-57DOK-INDRV*-MP*-02VRS**-FK01-EN-P To determine the "critical proportional gain" proceed as

MPH-02, MPB-02, MPD-02 System Overview 1-17DOK-INDRV*-MP*-02VRS**-FK01-EN-P • "drive enable", "Drive Halt" and "cl

6-58 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe band-stop filters are parameterized via the following paramete

MPH-02, MPB-02, MPD-02 Drive Control 6-59DOK-INDRV*-MP*-02VRS**-FK01-EN-P If the step response shows less overshooting and shorter period of

6-60 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPosition Loop (with Respective Feedforward Functions)Brief Descrip

MPH-02, MPB-02, MPD-02 Drive Control 6-61DOK-INDRV*-MP*-02VRS**-FK01-EN-P For optimum parameterization of the acceleration feedforward thefo

6-62 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P2. Increase parameter S-0-0104, Position loop Kv-factor until inst

MPH-02, MPB-02, MPD-02 Drive Control 6-63DOK-INDRV*-MP*-02VRS**-FK01-EN-P value 1 and the actual position value 2, in cyclic operation (phas

6-64 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PCurrent and Torque Limitation (Open-Loop)Brief DescriptionIn open-

MPH-02, MPB-02, MPD-02 Drive Control 6-65DOK-INDRV*-MP*-02VRS**-FK01-EN-P P-0-0051P-0-4046,EffectivepeakcurrentP-0-0049,Effectivetorque/forc

6-66 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-0001, Switching frequency of the power output stage• P-0-0

MPH-02, MPB-02, MPD-02 Drive Control 6-67DOK-INDRV*-MP*-02VRS**-FK01-EN-P The figure below illustrates the functional principle:S-0-0124,Sta

1-18 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• drive-internal generation of diagnostic messages• analog outp

6-68 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe maximum possible continuous current (P-0-4045) can be the 1.15

MPH-02, MPB-02, MPD-02 Drive Control 6-69DOK-INDRV*-MP*-02VRS**-FK01-EN-P The basic features of dynamic current limitation:• The value taki

6-70 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PfactortypecoolingPISfactortypecoolingtPISPtLastLast)40350()01110(1

MPH-02, MPB-02, MPD-02 Drive Control 6-71DOK-INDRV*-MP*-02VRS**-FK01-EN-P Diagnostic and Status MessagesFor diagnostic purposes, the status

6-72 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFunctional DescriptionE2059DF0071v1.fh7+S-0-0091,Bipolar velocityl

MPH-02, MPB-02, MPD-02 Drive Control 6-73DOK-INDRV*-MP*-02VRS**-FK01-EN-P The drive provides two possibilities of determining and monitoring

6-74 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• F6029 Positive travel limit exceeded• F6030 Negative travel li

MPH-02, MPB-02, MPD-02 Drive Control 6-75DOK-INDRV*-MP*-02VRS**-FK01-EN-P Position Limit Values (Software Limit Switch)To define the travel

6-76 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: Shutting down the axis using a velocity command value rampis

MPH-02, MPB-02, MPD-02 Drive Control 6-77DOK-INDRV*-MP*-02VRS**-FK01-EN-P The monitor of the position limit values is activated by setting b

MPH-02, MPB-02, MPD-02 System Overview 1-19DOK-INDRV*-MP*-02VRS**-FK01-EN-P The firmware functionality is divided into the following package

6-78 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDiagnostic and Status MessagesIn case the position limit value is

MPH-02, MPB-02, MPD-02 Drive Control 6-79DOK-INDRV*-MP*-02VRS**-FK01-EN-P 6.6 Power SupplyPossibilities of Power Supply for IndraDriveBrief

6-80 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• E8058 Drive system not ready for operation• F2026 Undervoltage

MPH-02, MPB-02, MPD-02 Drive Control 6-81DOK-INDRV*-MP*-02VRS**-FK01-EN-P The figures below illustrates the principle of central supply:modu

6-82 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe figure below illustrates the principle of group supply:module

MPH-02, MPB-02, MPD-02 Drive Control 6-83DOK-INDRV*-MP*-02VRS**-FK01-EN-P Functional DescriptionInformation on the Module BusThe module bus

6-84 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PError messages of supply unit cleared via:• "Esc" butto

MPH-02, MPB-02, MPD-02 Drive Control 6-85DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The exact causes of this warning are shown on the display of

6-86 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PIn the case of power output of the DC bus and correct mains voltag

MPH-02, MPB-02, MPD-02 Drive Control 6-87DOK-INDRV*-MP*-02VRS**-FK01-EN-P Due to hardware differences there are different requirements for m

MPH-02, MPB-02, MPD-02 Contents IDOK-INDRV*-MP*-02VRS**-FK01-EN-PContents1 System Overview 1-11.1 General Information ...

1-20 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe figure below illustrates the possibilities of functional sca

6-88 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFor each of the drives connected by the module bus it is possible

MPH-02, MPB-02, MPD-02 Drive Control 6-89DOK-INDRV*-MP*-02VRS**-FK01-EN-P In parameter P-0-0810 it is possible to set a threshold value, for

6-90 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe reference values for the switch-on/switch-off threshold can be

MPH-02, MPB-02, MPD-02 Drive Control 6-91DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningSettings, ConfigurationThe required or desir

6-92 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PCAUTIONProperty damage caused by inadmissibly highvoltage on the m

MPH-02, MPB-02, MPD-02 Drive Control 6-93DOK-INDRV*-MP*-02VRS**-FK01-EN-P Braking resistor diagnoses:• P-0-0844, Braking resistor load• P-

6-94 Drive Control MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes

MPH-02, MPB-02, MPD-02 Operating Modes 7-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 7 Operating Modes7.1 Overview of Operating ModesSupported Operat

7-2 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: The control bits (8 and 9) contained in parameter P-0-0116

MPH-02, MPB-02, MPD-02 Operating Modes 7-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P With the following exceptional circumstances, the desired operati

MPH-02, MPB-02, MPD-02 System Overview 1-21DOK-INDRV*-MP*-02VRS**-FK01-EN-P The following alternative functional packages are available:• S

7-4 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: When the positioning block mode is used for field buses in

MPH-02, MPB-02, MPD-02 Operating Modes 7-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P • torque/force control with regard to the sum of the command val

7-6 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe following command value limitations are distinguished:• torqu

MPH-02, MPB-02, MPD-02 Operating Modes 7-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningOn the user side the following limitations

7-8 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDiagnostic Messages and Monitoring FunctionsDiagnostic Status Mes

MPH-02, MPB-02, MPD-02 Operating Modes 7-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P • smoothing of preset command value by means of average filter (

7-10 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PCommand Value Adjustment in Velocity ControlThe figure below ill

MPH-02, MPB-02, MPD-02 Operating Modes 7-11DOK-INDRV*-MP*-02VRS**-FK01-EN-P Masking the Command ValueThe masking windows (max. 4) that can b

7-12 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PRamp GeneratorThe increase (acceleration) and deceleration of th

MPH-02, MPB-02, MPD-02 Operating Modes 7-13DOK-INDRV*-MP*-02VRS**-FK01-EN-P Velocity Control LoopVelocity LoopThe velocity loop is a typical

1-22 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFirmware Types That Can Be OrderedThe type designation of the In

7-14 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes on CommissioningInputting or Selecting the Velocity Comman

MPH-02, MPB-02, MPD-02 Operating Modes 7-15DOK-INDRV*-MP*-02VRS**-FK01-EN-P Masking the Velocity Command ValueFor each velocity window (cf.

7-16 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• Bit 4 = 1 → command value within masking windowThe command va

MPH-02, MPB-02, MPD-02 Operating Modes 7-17DOK-INDRV*-MP*-02VRS**-FK01-EN-P • position control with regard to the command value preset in p

7-18 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PCommand Value Processing in Position ControlNote: The command va

MPH-02, MPB-02, MPD-02 Operating Modes 7-19DOK-INDRV*-MP*-02VRS**-FK01-EN-P S-0-0047P-0-0041P-0-0042P-0-0187P-0-0434P-0-0099S-0-0091F2037P-0

7-20 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P(additive velocity command value) is set via P-0-0040, Velocityf

MPH-02, MPB-02, MPD-02 Operating Modes 7-21DOK-INDRV*-MP*-02VRS**-FK01-EN-P The velocity resulting from the difference of these two values g

7-22 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThere are different forms of the "drive-internal interpolat

MPH-02, MPB-02, MPD-02 Operating Modes 7-23DOK-INDRV*-MP*-02VRS**-FK01-EN-P • S-0-0393, Command value mode• S-0-0417, Velocity threshold f

MPH-02, MPB-02, MPD-02 System Overview 1-23DOK-INDRV*-MP*-02VRS**-FK01-EN-P The individual functional packages can be combined to form the f

7-24 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPosition Loop with Drive-Internal InterpolationThe position comm

MPH-02, MPB-02, MPD-02 Operating Modes 7-25DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: In this case, TA,position is the cycle time of the positio

7-26 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDiagnostic Messages and Monitoring FunctionsDiagnostic Status Me

MPH-02, MPB-02, MPD-02 Operating Modes 7-27DOK-INDRV*-MP*-02VRS**-FK01-EN-P The figures below illustrate the operating principle of the stat

7-28 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P7.6 Drive-Controlled PositioningBrief DescriptionThe operating m

MPH-02, MPB-02, MPD-02 Operating Modes 7-29DOK-INDRV*-MP*-02VRS**-FK01-EN-P • acceleration and deceleration ramps can be set separately (S-

7-30 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PCommand Value Processing with Drive-Controlled PositioningOvervi

MPH-02, MPB-02, MPD-02 Operating Modes 7-31DOK-INDRV*-MP*-02VRS**-FK01-EN-P Position Target InterpreterThe acceptance and internal processin

7-32 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PTime taccept (see illustration above) defines the time that pass

MPH-02, MPB-02, MPD-02 Operating Modes 7-33DOK-INDRV*-MP*-02VRS**-FK01-EN-P (k)(k+1)(k+2)drive-internalposition cmd value(k+3)F2050 Overflow

1-24 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PBase PackagesIn the base packages of the firmware the minimum sc

7-34 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PVia bit 5 of S-0-0346 it is possible to determine the time of th

MPH-02, MPB-02, MPD-02 Operating Modes 7-35DOK-INDRV*-MP*-02VRS**-FK01-EN-P Position Loop with Drive-Controlled PositioningThe position comm

7-36 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: In this case, TA,position is the cycle time of the positio

MPH-02, MPB-02, MPD-02 Operating Modes 7-37DOK-INDRV*-MP*-02VRS**-FK01-EN-P direction greater than the programmed target position window! Th

7-38 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• Case 9:current velocity (positive) < S-0-0417; braking dis

MPH-02, MPB-02, MPD-02 Operating Modes 7-39DOK-INDRV*-MP*-02VRS**-FK01-EN-P Monitoring FunctionsOperating mode-specific monitoring functions

7-40 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe result is the following time diagram:vxx0101010DK000056v01_e

MPH-02, MPB-02, MPD-02 Operating Modes 7-41DOK-INDRV*-MP*-02VRS**-FK01-EN-P • parameterization of up to 64 positioning blocks; each with ta

7-42 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-4006, Process block target position• P-0-4007, Positioni

MPH-02, MPB-02, MPD-02 Operating Modes 7-43DOK-INDRV*-MP*-02VRS**-FK01-EN-P Command Value Processing in Positioning Block ModeP-0-4026P-0-40

MPH-02, MPB-02, MPD-02 System Overview 1-25DOK-INDRV*-MP*-02VRS**-FK01-EN-P Scope of Functions of Base PackagesApart from the basic function

7-44 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe maximum deceleration is specified by parameter P-0-4063,Posi

MPH-02, MPB-02, MPD-02 Operating Modes 7-45DOK-INDRV*-MP*-02VRS**-FK01-EN-P With parameter P-0-4060, Positioning block control word (bit 1)

7-46 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: If the velocity threshold for positioning in modulo format

MPH-02, MPB-02, MPD-02 Operating Modes 7-47DOK-INDRV*-MP*-02VRS**-FK01-EN-P • Parallel interface• Bit 0 of P-0-4060 has to be configured on

7-48 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PExample:Absolute positioning with target position = 700 (current

MPH-02, MPB-02, MPD-02 Operating Modes 7-49DOK-INDRV*-MP*-02VRS**-FK01-EN-P Relative Positioning without Residual Path Storage• P-0-4019, P

7-50 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PExample:Relative positioning without residual path storage with

MPH-02, MPB-02, MPD-02 Operating Modes 7-51DOK-INDRV*-MP*-02VRS**-FK01-EN-P Example:Relative positioning without residual path storage with

7-52 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PRelative Positioning with Residual Path Storage• P-0-4019, Posi

MPH-02, MPB-02, MPD-02 Operating Modes 7-53DOK-INDRV*-MP*-02VRS**-FK01-EN-P Example:• relative positioning with residual path storage with

1-26 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFirmware type →FWA-INDRV*-MPB-02VRS(Basic single-axis)FWA-INDRV*

7-54 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PRelative Positioning Block with Residual Path Storage afterActiv

MPH-02, MPB-02, MPD-02 Operating Modes 7-55DOK-INDRV*-MP*-02VRS**-FK01-EN-P vDrive HALT (AH):S-0-0134,Master controlword (bit 13)02DK000030v

7-56 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PRelative Positioning Block with Residual Path Storage afterInter

MPH-02, MPB-02, MPD-02 Operating Modes 7-57DOK-INDRV*-MP*-02VRS**-FK01-EN-P v02Drive HALT (AH):S-0-0134,Master controlword (bit 13)DK000031v

7-58 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PRelative Positioning Block with Residual Path Storage AfterSwitc

MPH-02, MPB-02, MPD-02 Operating Modes 7-59DOK-INDRV*-MP*-02VRS**-FK01-EN-P v 01XXXDK000032v01_en.fh7positioning blockacceptance:P-0-4060 (b

7-60 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PSequential Block ProcessingDescription of Basic FunctionNote: Fi

MPH-02, MPB-02, MPD-02 Operating Modes 7-61DOK-INDRV*-MP*-02VRS**-FK01-EN-P next positioning block n+1, the block n representing the positio

7-62 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pb) Block transition with new positioning velocity (mode 2)• P-0

MPH-02, MPB-02, MPD-02 Operating Modes 7-63DOK-INDRV*-MP*-02VRS**-FK01-EN-P v 01DK000033v02_en.fh7positioning blockacceptance:P-0-4060 (bit

MPH-02, MPB-02, MPD-02 System Overview 1-27DOK-INDRV*-MP*-02VRS**-FK01-EN-P Alternative Functional PackagesApart from the base packages that

7-64 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PIn this case, the drive is decelerated to speed "0" at

MPH-02, MPB-02, MPD-02 Operating Modes 7-65DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: This mode should be used if there is a change in direction

7-66 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pv 01DK000035v01_en.fh7positioning blockacceptance:P-0-4060 (bit

MPH-02, MPB-02, MPD-02 Operating Modes 7-67DOK-INDRV*-MP*-02VRS**-FK01-EN-P If the start block of a switch-signal-dependent sequential block

7-68 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: All conditions for advance are constantly queried andevalu

MPH-02, MPB-02, MPD-02 Operating Modes 7-69DOK-INDRV*-MP*-02VRS**-FK01-EN-P v 01 01DK000037v01_en.fh7positioning blockacceptance:P-0-4060 (b

7-70 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PWhen changing the operating mode during an interruption, the seq

MPH-02, MPB-02, MPD-02 Operating Modes 7-71DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on Commissioning/ParameterizationLimit Values of the Drive

7-72 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PBlock n with intermediate stop follows block n-1 with mode 1 (bl

MPH-02, MPB-02, MPD-02 Operating Modes 7-73DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: In the case of a sequential block with directional change,

1-28 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PSynchronizationDepending on the firmware variant and characteris

7-74 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PvXXX 02 01 01DK000039v01_en.fh7positioning blockacceptance:P-0-4

MPH-02, MPB-02, MPD-02 Operating Modes 7-75DOK-INDRV*-MP*-02VRS**-FK01-EN-P If an absolute encoder is used, it is possible to decide, after

7-76 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: For sequential block chains this is the last active block

MPH-02, MPB-02, MPD-02 Operating Modes 7-77DOK-INDRV*-MP*-02VRS**-FK01-EN-P The synchronization modes basically consist of identical or simi

7-78 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-0073, Cam shaft distance 2• P-0-0092, Cam shaft profile

MPH-02, MPB-02, MPD-02 Operating Modes 7-79DOK-INDRV*-MP*-02VRS**-FK01-EN-P • In the case of a virtual master axis, command values are cycl

7-80 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFor both master axes it is possible to change, via parameter P-0

MPH-02, MPB-02, MPD-02 Operating Modes 7-81DOK-INDRV*-MP*-02VRS**-FK01-EN-P • polarity reversal of master axis positionVia parameter P-0-01

7-82 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThis actual position value is set by the command "set absol

MPH-02, MPB-02, MPD-02 Operating Modes 7-83DOK-INDRV*-MP*-02VRS**-FK01-EN-P • operating mode: cam shaft with P-0-0755 ≠ 007550P01030S*01560

MPH-02, MPB-02, MPD-02 System Overview 1-29DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The drive-integrated safety technology is a functionality

7-84 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe range for the command value cycle at the slave axis is defin

MPH-02, MPB-02, MPD-02 Operating Modes 7-85DOK-INDRV*-MP*-02VRS**-FK01-EN-P The actual position value in the division of the command value c

7-86 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PActual position value of measuring encoder with P-0-0054,Additiv

MPH-02, MPB-02, MPD-02 Operating Modes 7-87DOK-INDRV*-MP*-02VRS**-FK01-EN-P Dynamic Synchronization with Synchronous PositionControl ModesDr

7-88 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pposition in parameter P-0-0034, Position command additionalactua

MPH-02, MPB-02, MPD-02 Operating Modes 7-89DOK-INDRV*-MP*-02VRS**-FK01-EN-P Relative/Absolute SynchronizationIn the synchronous position con

7-90 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe figure below illustrates the relative synchronization to a v

MPH-02, MPB-02, MPD-02 Operating Modes 7-91DOK-INDRV*-MP*-02VRS**-FK01-EN-P The figure below illustrates the absolute synchronization to a v

7-92 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe figure below illustrates the absolute synchronization to a v

MPH-02, MPB-02, MPD-02 Operating Modes 7-93DOK-INDRV*-MP*-02VRS**-FK01-EN-P Standard/Register Controller SynchronizationIn the synchronous p

II Contents MPH-02, MPB-02, MPD-02DOK-INDRV*-MP*-02VRS**-FK01-EN-P3.10 Protection During Handling and Mounting ...

1-30 System Overview MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes

7-94 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPossible counter measures:• increasing the filter time constant

MPH-02, MPB-02, MPD-02 Operating Modes 7-95DOK-INDRV*-MP*-02VRS**-FK01-EN-P Diagnostic and Status MessagesApart from some status and display

7-96 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PVelocity Synchronization with Real/Virtual Master AxisBrief Desc

MPH-02, MPB-02, MPD-02 Operating Modes 7-97DOK-INDRV*-MP*-02VRS**-FK01-EN-P P-0-0108P-0-0777P-0-0048Operating mode: velocity synchronization

7-98 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-0053, Master axis position• P-0-0054, Additive master ax

MPH-02, MPB-02, MPD-02 Operating Modes 7-99DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: Only the function block specific to the velocity synchroni

7-100 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe following variants are available to do this:• P-0-0155 bit

MPH-02, MPB-02, MPD-02 Operating Modes 7-101DOK-INDRV*-MP*-02VRS**-FK01-EN-P Sequence of parameterization specific to operating mode:1. Dep

7-102 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPhase Synchronization with Real/Virtual Master AxisBrief Descri

MPH-02, MPB-02, MPD-02 Operating Modes 7-103DOK-INDRV*-MP*-02VRS**-FK01-EN-P P-0-0108P-0-0434Operating mode: phase synchronization with real

MPH-02, MPB-02, MPD-02 Important directions for use 2-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 2 Important directions for use2.1 Appropriate useIn

7-104 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFor machining processes that only require relative phase synchr

MPH-02, MPB-02, MPD-02 Operating Modes 7-105DOK-INDRV*-MP*-02VRS**-FK01-EN-P Pertinent Diagnostic Messages• A0112 Phase synchronization, en

7-106 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: Only the function block specific to the phase synchroniza

MPH-02, MPB-02, MPD-02 Operating Modes 7-107DOK-INDRV*-MP*-02VRS**-FK01-EN-P IWZ%)20159-0-P*0083)0P(1*0156-0-P0157-0-P *7570-0- ( =Xsync20−−

7-108 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P"Modulo" ParameterizationFor "modulo" param

MPH-02, MPB-02, MPD-02 Operating Modes 7-109DOK-INDRV*-MP*-02VRS**-FK01-EN-P "Absolute" Parameterization1. In the case of absolut

7-110 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe figure below illustrates the basic commissioning steps:star

MPH-02, MPB-02, MPD-02 Operating Modes 7-111DOK-INDRV*-MP*-02VRS**-FK01-EN-P • C0244 Act. modulo value cycle greater than max. travel range

7-112 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PElectronic Cam Shaft with Real/Virtual Master AxisBrief Descrip

MPH-02, MPB-02, MPD-02 Operating Modes 7-113DOK-INDRV*-MP*-02VRS**-FK01-EN-P P-0-0108Operating mode: electronic cam shaft with real/virtual

2-2 Important directions for use MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PAreas of use and applicationDrive controllers made b

7-114 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• S-0-0048, Additive position command value• S-0-0228, Positi

MPH-02, MPB-02, MPD-02 Operating Modes 7-115DOK-INDRV*-MP*-02VRS**-FK01-EN-P • A0128 Cam shaft, encoder 1, virtual master axis• A0129 Cam

7-116 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: Only the function block specific to the cam shaft mode is

MPH-02, MPB-02, MPD-02 Operating Modes 7-117DOK-INDRV*-MP*-02VRS**-FK01-EN-P Depending on P-0-0061, Angle offset begin of profile, an interp

7-118 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: With an infinite cam shaft the difference between initial

MPH-02, MPB-02, MPD-02 Operating Modes 7-119DOK-INDRV*-MP*-02VRS**-FK01-EN-P For linear scaling with rotary motor, parameterize the feed con

7-120 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PParameter P-0-0085, Dynamic angle offset can be used forcompen

MPH-02, MPB-02, MPD-02 Operating Modes 7-121DOK-INDRV*-MP*-02VRS**-FK01-EN-P "Modulo" ParameterizationFor "modulo" param

7-122 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P"Absolute" Parameterization1. In the case of absolut

MPH-02, MPB-02, MPD-02 Operating Modes 7-123DOK-INDRV*-MP*-02VRS**-FK01-EN-P The figure below illustrates the basic commissioning steps:star

MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls 3-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 3 Safety Instructions for E

7-124 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDiagnostic and Status MessagesThe following diagnostic status m

MPH-02, MPB-02, MPD-02 Operating Modes 7-125DOK-INDRV*-MP*-02VRS**-FK01-EN-P Via parameter P-0-0089 (bit 0,1) there is a feedback indicating

7-126 Operating Modes MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes

MPH-02, MPB-02, MPD-02 Drive Functions 8-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 8 Drive Functions8.1 Drive HaltBrief DescriptionThe "Drive H

8-2 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe kind of shutdown, in the case of "Drive Halt", depe

MPH-02, MPB-02, MPD-02 Drive Functions 8-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P DK000040v02_en.fh7ttvttS-0-0372t1control word(P-0-0116; bit 13)st

8-4 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P8.2 Establishing the Position Data ReferenceGeneral Information

MPH-02, MPB-02, MPD-02 Drive Functions 8-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P This is configured via parameters and realized with the commands

8-6 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe current status of the position data reference of motor encode

MPH-02, MPB-02, MPD-02 Drive Functions 8-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningThe possibility of absolute evaluation of m

3-2 Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P3.3 Hazards by Improper Use

8-8 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Psequence for establishing the position data reference are made vi

MPH-02, MPB-02, MPD-02 Drive Functions 8-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P Parameters for relative measuring systems, distance-coded:• S-0-

8-10 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe motion range required for homing depends on the encoder used

MPH-02, MPB-02, MPD-02 Drive Functions 8-11DOK-INDRV*-MP*-02VRS**-FK01-EN-P DF0073v1.fh7travel rangemachine axisreference offsetreference di

8-12 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PAs motor encoder or external encoder can be realized as distance

MPH-02, MPB-02, MPD-02 Drive Functions 8-13DOK-INDRV*-MP*-02VRS**-FK01-EN-P Depending on the home switch signal, there are the following dri

8-14 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDF0072v1.fh7mapped reference marks of motor encoderaxis slideswi

MPH-02, MPB-02, MPD-02 Drive Functions 8-15DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: Generally, several reference marks can occur in the"a

8-16 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDF0077v1.fh7reference travel directionhome switch signaldetectio

MPH-02, MPB-02, MPD-02 Drive Functions 8-17DOK-INDRV*-MP*-02VRS**-FK01-EN-P DF0078v1.fh7reference travel directionactual home switch signale

MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls 3-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P 3.4 General Information• Bo

8-18 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P01170S01650S360degrs :encoder external01160S01650S360degrs

MPH-02, MPB-02, MPD-02 Drive Functions 8-19DOK-INDRV*-MP*-02VRS**-FK01-EN-P Functional Sequence "Drive-Controlled Homing Procedure"

8-20 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P As in the case of all drive-controlled functions, the maximum v

MPH-02, MPB-02, MPD-02 Drive Functions 8-21DOK-INDRV*-MP*-02VRS**-FK01-EN-P When the control master wants to operate the drive in position c

8-22 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P2. Check whether distance home switch edge-reference mark is wi

MPH-02, MPB-02, MPD-02 Drive Functions 8-23DOK-INDRV*-MP*-02VRS**-FK01-EN-P CAUTIONProperty damage caused by step change ofactual position v

8-24 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PIf the axis, after execution of command C0600, is to be at the r

MPH-02, MPB-02, MPD-02 Drive Functions 8-25DOK-INDRV*-MP*-02VRS**-FK01-EN-P An axis-side reference point possibly available is not used for

8-26 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pthe axis down. The controller therefore can always detect two ne

MPH-02, MPB-02, MPD-02 Drive Functions 8-27DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: If the absolute measuring was only set for one encoder, th

3-4 Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• Operation is only permitt

8-28 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFunctional DescriptionBy starting the "set absolute measuri

MPH-02, MPB-02, MPD-02 Drive Functions 8-29DOK-INDRV*-MP*-02VRS**-FK01-EN-P After the reference was cleared, the new actual position value(S

8-30 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P"Drive Halt"?"driveenable"?clear reference (

MPH-02, MPB-02, MPD-02 Drive Functions 8-31DOK-INDRV*-MP*-02VRS**-FK01-EN-P Make the presetting for "set absolute measuring" by de

8-32 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PShifting the position data reference affects the motor encoder a

MPH-02, MPB-02, MPD-02 Drive Functions 8-33DOK-INDRV*-MP*-02VRS**-FK01-EN-P See also Troubleshooting Guide for "A0010 Drive HALT&qu

8-34 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PWith master-side command value input, the S-0-0197, C3300 Setcoo

MPH-02, MPB-02, MPD-02 Drive Functions 8-35DOK-INDRV*-MP*-02VRS**-FK01-EN-P 8.3 Error ReactionsOverview of Error ReactionsDepending on the o

8-36 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThere are 8 error classes with different priority:Diagnosticmess

MPH-02, MPB-02, MPD-02 Drive Functions 8-37DOK-INDRV*-MP*-02VRS**-FK01-EN-P • fatal errors (F8xxx)→ immediate torque disable• fatal system

MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls 3-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P 3.5 Protection Against Cont

8-38 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P10(AF internal)DK000015v01_en.fh7bit 3: 10P-0-0115bit 14: 10bi

MPH-02, MPB-02, MPD-02 Drive Functions 8-39DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: In open-loop-controlled U/f operation deceleration takes p

8-40 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PSee also "General Information on the Operation of Motors wi

MPH-02, MPB-02, MPD-02 Drive Functions 8-41DOK-INDRV*-MP*-02VRS**-FK01-EN-P releasedapplied10(AF internal)DK000016v01_en.fh7bit 3: 10S-0-02

8-42 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: The activation and function of the motor holding brakedepe

MPH-02, MPB-02, MPD-02 Drive Functions 8-43DOK-INDRV*-MP*-02VRS**-FK01-EN-P Reaction todrive errorsPriority of appropriate errorreactions fo

8-44 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNC Reaction on ErrorBrief DescriptionTo avoid damages to the mac

MPH-02, MPB-02, MPD-02 Drive Functions 8-45DOK-INDRV*-MP*-02VRS**-FK01-EN-P 8.4 E-Stop FunctionBrief DescriptionThe E-Stop function is used

8-46 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: This change bit is cleared again by reading S-0-0012, Clas

MPH-02, MPB-02, MPD-02 Drive Functions 8-47DOK-INDRV*-MP*-02VRS**-FK01-EN-P Selecting the Drive ReactionIt is possible to determine whether

3-6 Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PTo be observed with electric

8-48 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P8.5 Compensation Functions/CorrectionsFriction Torque Compensati

MPH-02, MPB-02, MPD-02 Drive Functions 8-49DOK-INDRV*-MP*-02VRS**-FK01-EN-P DK0018v1.fh7reversal of directionS-0-0155S-0-0124vttMcmdS-0-0124

8-50 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe compensation value (S-0-0155) is determined in the following

MPH-02, MPB-02, MPD-02 Drive Functions 8-51DOK-INDRV*-MP*-02VRS**-FK01-EN-P The most important inaccuracies with sinusoidal signals are caus

8-52 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe correction values are determined once during initial commiss

MPH-02, MPB-02, MPD-02 Drive Functions 8-53DOK-INDRV*-MP*-02VRS**-FK01-EN-P When the drive is switched on again (after initial commissioning

8-54 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-0412, Axis correction, correction table negative• P-0-04

MPH-02, MPB-02, MPD-02 Drive Functions 8-55DOK-INDRV*-MP*-02VRS**-FK01-EN-P Backlash on Reversal CorrectionBy means of the backlash on rever

8-56 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pactcorr act,x x =xact: uncorrected actual position value 1 or 2

MPH-02, MPB-02, MPD-02 Drive Functions 8-57DOK-INDRV*-MP*-02VRS**-FK01-EN-P Precision Axis Error CorrectionThe precision axis error correcti

MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls 3-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P 3.7 Protection Against Dang

8-58 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pstart position(P-0-0408)support point distance(P-0-0410)correcti

MPH-02, MPB-02, MPD-02 Drive Functions 8-59DOK-INDRV*-MP*-02VRS**-FK01-EN-P The figure below illustrates the operating principle of precisio

8-60 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe start position for precision axis error compensation determi

MPH-02, MPB-02, MPD-02 Drive Functions 8-61DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: When actual position reference values are measured, allmac

8-62 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-POperating principle of position-independent temperature correcti

MPH-02, MPB-02, MPD-02 Drive Functions 8-63DOK-INDRV*-MP*-02VRS**-FK01-EN-P correction value xktemperaturedifference(∆T)P1(∆T1,xk1)P2(∆T2,xk

8-64 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPertinent parameters:• P-0-0402, Axis correction reference temp

MPH-02, MPB-02, MPD-02 Drive Functions 8-65DOK-INDRV*-MP*-02VRS**-FK01-EN-P When the position data reference was established for the actual

8-66 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PGradient of the straight line:∑∑∑∑∑−××−××=)²(²)(____nactnactknna

MPH-02, MPB-02, MPD-02 Drive Functions 8-67DOK-INDRV*-MP*-02VRS**-FK01-EN-P mmmmmmmmmmmmmmmmmmb 034620.021385035.4792)0.185(216025*32025.3*0

MPH-02, MPB-02, MPD-02 Contents IIIDOK-INDRV*-MP*-02VRS**-FK01-EN-PMotor Holding Brake ...

3-8 Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P DANGERDangerous movements!

8-68 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe gradient of the approximated straight line is the value of t

MPH-02, MPB-02, MPD-02 Drive Functions 8-69DOK-INDRV*-MP*-02VRS**-FK01-EN-P Functional DescriptionFor quadrant error correction, static fric

8-70 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PBy means of list parameters the circular velocities and velocity

MPH-02, MPB-02, MPD-02 Drive Functions 8-71DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningFor commissioning it is necessary to move

8-72 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P8.6 Detecting the Marker PositionBrief DescriptionThe "get

MPH-02, MPB-02, MPD-02 Drive Functions 8-73DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: In parameter S-0-0173, Marker position A the position of t

8-74 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPertinent ParametersThe following parameters are used to paramet

MPH-02, MPB-02, MPD-02 Drive Functions 8-75DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: If the value of parameter P-0-0241, Actual pos. smoothingt

8-76 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PAfter the measuring wheel mode has been deactivated, the positio

MPH-02, MPB-02, MPD-02 Drive Functions 8-77DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningFirst set the parameter values relevant to

MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls 3-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P ⇒ Disconnect electrical powe

8-78 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Psmoothness of running and positioning velocity (e.g. for cutting

MPH-02, MPB-02, MPD-02 Drive Functions 8-79DOK-INDRV*-MP*-02VRS**-FK01-EN-P Pertinent Parameters• S-0-0092, Bipolar torque/force limit valu

8-80 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes on CommissioningFor acknowledgment of command C1300 it is

MPH-02, MPB-02, MPD-02 Drive Functions 8-81DOK-INDRV*-MP*-02VRS**-FK01-EN-P Pertinent Parameters• S-0-0152, C0900 Position spindle command•

8-82 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: In the case of a mechanical system with slip (e.g. V-belt)

MPH-02, MPB-02, MPD-02 Drive Functions 8-83DOK-INDRV*-MP*-02VRS**-FK01-EN-P Specific Features with "Modulo" Position Data FormatSp

8-84 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PStart position of spindle positioning ...Current direction of ro

MPH-02, MPB-02, MPD-02 Drive Functions 8-85DOK-INDRV*-MP*-02VRS**-FK01-EN-P Determining threshold values for "In Position" message

8-86 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P8.10 Rexroth IndraMotion MLD-S (Drive-Integrated PLC)Brief Desc

MPH-02, MPB-02, MPD-02 Drive Functions 8-87DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The functionality of a drive-integrated PLC according toIE

3-10 Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P3.9 Protection Against Con

8-88 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPertinent Parameters• P-0-1350, PLC control word• P-0-1351, PL

MPH-02, MPB-02, MPD-02 Drive Functions 8-89DOK-INDRV*-MP*-02VRS**-FK01-EN-P Overview of Available LibrariesNote: This chapter only gives a s

8-90 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• Functions for scaling:• MX_fDINT_AccTo_REAL• MX_fDINT_DistTo_

MPH-02, MPB-02, MPD-02 Drive Functions 8-91DOK-INDRV*-MP*-02VRS**-FK01-EN-P 8.11 Drive-Integrated Safety TechnologyNote: The drive-integrat

8-92 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPertinent Diagnostic Messages• A0011 Starting lockout active•

MPH-02, MPB-02, MPD-02 Drive Functions 8-93DOK-INDRV*-MP*-02VRS**-FK01-EN-P • Safety related maximum velocity:• safety related maximum vel

8-94 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-3239, Nominal load torque safety related brake management

MPH-02, MPB-02, MPD-02 Drive Functions 8-95DOK-INDRV*-MP*-02VRS**-FK01-EN-P • E3107 Error when unlocking the safety door• F3112 Reference

8-96 Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 9 Extended Drive Functions9.1 Probe FunctionBrief Descr

MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls 3-11DOK-INDRV*-MP*-02VRS**-FK01-EN-P 3.11 Battery SafetyBatterie

9-2 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• S-0-0132, Probe value 2 positive edge• S-0-0133, Pro

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The rapid digital inputs have to be assigned to th

9-4 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PIn addition, other modalities of measured value detectio

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P With each measuring event a status information is genera

9-6 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• By registering a measured value trigger within the &q

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P Activate the measured value detection via S-0-0170, Prob

9-8 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P9.2 Measuring EncoderBrief DescriptionMeasuring encoders

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P For controllers with a double-axis control section (CDB0

9-10 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFunctional DescriptionBasics on Measuring Encoder, Reso

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-11DOK-INDRV*-MP*-02VRS**-FK01-EN-P Depending on P-0-0327, Encoder resolution of measuring

3-12 Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes

9-12 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: The value of P-0-0326 calculated according to the

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-13DOK-INDRV*-MP*-02VRS**-FK01-EN-P During the transition from communication phase "P2

9-14 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PBy starting the "set absolute measuring" comm

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-15DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: In the case of rotary encoders, reference mark si

9-16 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe offset of the position data reference is reset by e

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-17DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: Incremental scaling! The threshold of the error m

9-18 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PShifting the Position Data ReferenceMaster-side writing

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-19DOK-INDRV*-MP*-02VRS**-FK01-EN-P Incremental encoder emulation is the simulation of a re

9-20 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPertinent Parameters• P-0-0900, Encoder emulation sign

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-21DOK-INDRV*-MP*-02VRS**-FK01-EN-P • internal digital position values• internal position

MPH-02, MPB-02, MPD-02 Master Communication 4-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 4 Master Communication4.1 Basic Functions of Master Communi

9-22 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe figure below illustrates the format and time flow o

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-23DOK-INDRV*-MP*-02VRS**-FK01-EN-P then (if axis has been homed) always have a fixed refer

9-24 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PAbsolute Encoder EmulationThe absolute encoder emulatio

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-25DOK-INDRV*-MP*-02VRS**-FK01-EN-P Resolution and Unit of the Emulated SignalThe output da

9-26 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes on CommissioningIn contrast to a "real"

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-27DOK-INDRV*-MP*-02VRS**-FK01-EN-P Due to the internal signal processing, the periodic tim

9-28 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDiagnostic and Status MessagesThe following diagnostic

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-29DOK-INDRV*-MP*-02VRS**-FK01-EN-P • 2 assignment mechanisms for analog inputs (assignmen

9-30 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-0228, Analog input 3• P-0-0229, Analog input 4•

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-31DOK-INDRV*-MP*-02VRS**-FK01-EN-P Sampling and Signal Processing of Analog InputsThe anal

4-2 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe address is set via the control panel as follows:1. chan

9-32 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: It is therefore only possible to assign a maximum

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-33DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The analog channels are already adjusted at the f

9-34 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PTo stabilize the analog signal in the zero range it is

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-35DOK-INDRV*-MP*-02VRS**-FK01-EN-P See also Parameter Description "P-0-0218, Analo

9-36 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P9.5 Analog OutputsBrief DescriptionIn order to diagnose

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-37DOK-INDRV*-MP*-02VRS**-FK01-EN-P Functional DescriptionBasic FeaturesDepending on the de

9-38 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P800 min-10 min-1800 min-10 min-1Uout_minUout_maxUout_mi

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-39DOK-INDRV*-MP*-02VRS**-FK01-EN-P The analog outputs are scaled (range of values per V) i

9-40 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-POutputting Voltage Signals Independent of the DriveThe

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-41DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningPresettings for the analog output

MPH-02, MPB-02, MPD-02 Master Communication 4-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P Command ProcessingBasicsCommands are used to control complex

9-42 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P9.6 Digital Inputs/OutputsBrief DescriptionIn their bas

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-43DOK-INDRV*-MP*-02VRS**-FK01-EN-P Pertinent Parameters• S-0-0398, IDN list of configurab

9-44 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPertinent Parameters• S-0-0144, Signal status word• S

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-45DOK-INDRV*-MP*-02VRS**-FK01-EN-P The respective bit in the source or target parameter is

9-46 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PAs an example, the following figure illustrates the con

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-47DOK-INDRV*-MP*-02VRS**-FK01-EN-P Specific Features of Double-Axis Devices (FirmwareMPD)B

9-48 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PCAUTIONIf one of these functions (e.g. travel range lim

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-49DOK-INDRV*-MP*-02VRS**-FK01-EN-P Reading in peripheral status signals is possible via th

9-50 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThere are the following possibilities for using the dig

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-51DOK-INDRV*-MP*-02VRS**-FK01-EN-P Configuring the I/Os of the optional module MD1 to anyP

4-4 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• 0xF: error, command execution impossible• 0x5: command e

9-52 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe figure below illustrates the access to any drive pa

MPH-02, MPB-02, MPD-02 Extended Drive Functions 9-53DOK-INDRV*-MP*-02VRS**-FK01-EN-P Configuration of Digital I/Os for Integrated SafetyTech

9-54 Extended Drive Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDigital Inputs/Outputs on Optional Module MD1The status

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 10 Handling, Diagnostic and Service

10-2 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PAll data block elements can be read v

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P When errors of this category are dete

10-4 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PLoading parameter values is required

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P Switching the communication phase:•

10-6 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFunctional DescriptionAll operating d

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P Non-volatile storage is carried out w

MPH-02, MPB-02, MPD-02 Master Communication 4-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P Device Control (Status Machine)Brief DescriptionThe drive st

10-8 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PTo load saved parameter values or tra

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P After loading the basic parameters th

10-10 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PRespective diagnostic messages in th

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-11DOK-INDRV*-MP*-02VRS**-FK01-EN-P Respective diagnostic command messag

10-12 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PParameters are detected as being inv

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-13DOK-INDRV*-MP*-02VRS**-FK01-EN-P S-0-0025, IDN-list of all procedure

10-14 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe drive firmware allows activating

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-15DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The control password valid for

10-16 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PWARNINGIncorrect control of motors w

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-17DOK-INDRV*-MP*-02VRS**-FK01-EN-P 10.2 Device ConfigurationController

IV Contents MPH-02, MPB-02, MPD-02DOK-INDRV*-MP*-02VRS**-FK01-EN-PCurrent and Torque Limitation (Closed-Loop) ...

4-6 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDC000012v01_en.fh7sec. oper. mode 3sec. oper. mode 2sec. ope

10-18 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PCircuit Board CodeBrief DescriptionT

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-19DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The control section is configu

10-20 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: Before delivery, the hours-run

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-21DOK-INDRV*-MP*-02VRS**-FK01-EN-P The parameters P-0-0192 and P-0-0193

10-22 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe following categories of diagnost

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-23DOK-INDRV*-MP*-02VRS**-FK01-EN-P An overview of all diagnostic messag

10-24 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDiagnostic Messages in Plain TextThe

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-25DOK-INDRV*-MP*-02VRS**-FK01-EN-P Status ClassesBrief DescriptionThe d

10-26 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• S-0-0012, Class 2 diagnostics (st

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-27DOK-INDRV*-MP*-02VRS**-FK01-EN-P The figure below illustrates the pri

MPH-02, MPB-02, MPD-02 Master Communication 4-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P • S-0-0011, Class 1 diagnostics• S-0-0012, Class 2 diagnos

10-28 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes on CommissioningThe figure bel

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-29DOK-INDRV*-MP*-02VRS**-FK01-EN-P The following parameters are availab

10-30 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• S-0-0335, Message ’n command >

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-31DOK-INDRV*-MP*-02VRS**-FK01-EN-P DG0001v1.fh71 F40028-digit displayb

10-32 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P1 bbnumber of the drive in thebu

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-33DOK-INDRV*-MP*-02VRS**-FK01-EN-P The current drive status is displaye

10-34 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P1.Er.Anzextended display1.1P-0-0192&

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-35DOK-INDRV*-MP*-02VRS**-FK01-EN-P Starting from the extended display i

10-36 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P"Down"button"Up"

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-37DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningCAUTIONPropert

4-8 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe figure below illustrates the interaction of the above co

10-38 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPertinent Parameters• P-0-4072, C29

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-39DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: When updating the firmware via

10-40 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThis requires a PC with an adapter t

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-41DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningFirmware Updat

10-42 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFirmware Update via Temporarily Plug

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-43DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: In the case of drives with abs

10-44 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P10.7 Notes on How to Replace the De

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-45DOK-INDRV*-MP*-02VRS**-FK01-EN-P See documentation "Troublesh

10-46 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PA fault report form to be copied can

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-47DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The message "Load new Par

MPH-02, MPB-02, MPD-02 Master Communication 4-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P Timing Diagrams for Device ControlNote: The control bits in

10-48 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPut machine into ready-for-operation

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-49DOK-INDRV*-MP*-02VRS**-FK01-EN-P If it should have been impossible to

10-50 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPertinent Parameters• S-0-0030, Man

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-51DOK-INDRV*-MP*-02VRS**-FK01-EN-P The following assignment applies:Bit

10-52 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFor input in P-0-2003, Selection of

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-53DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningCondition As S

10-54 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P4. see P-0-1511, Circuit board code

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-55DOK-INDRV*-MP*-02VRS**-FK01-EN-P 10.9 Extended Diagnostic Possibilit

10-56 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PIn order to get to the monitoring mo

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-57DOK-INDRV*-MP*-02VRS**-FK01-EN-P Fig. 10-22: Logbook entries (example

4-10 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P see switch-on processreset S-0-0099DK000059v01_en.fh7tP-0-

10-58 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• P-0-0480, Patch function 1, sourc

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-59DOK-INDRV*-MP*-02VRS**-FK01-EN-P a binary number. When selecting &quo

10-60 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Panymemory address(P-0-0480 / P-0-048

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-61DOK-INDRV*-MP*-02VRS**-FK01-EN-P anymemory address(P-0-0480 / P-0-048

10-62 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P10.10 Oscilloscope FunctionBrief Des

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-63DOK-INDRV*-MP*-02VRS**-FK01-EN-P Pertinent Parameters• P-0-0028, Osc

10-64 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PGeneral Information on the Oscillosc

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-65DOK-INDRV*-MP*-02VRS**-FK01-EN-P Configuring the Measured Value Chann

10-66 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: Using the patch function is on

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-67DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: If there isn’t any valid trigg

MPH-02, MPB-02, MPD-02 Master Communication 4-11DOK-INDRV*-MP*-02VRS**-FK01-EN-P Communication Phases According to SERCOSSpecificationNote:

10-68 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Ptrigger level(P-0-0027)trigger edge

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-69DOK-INDRV*-MP*-02VRS**-FK01-EN-P trigger level(P-0-0027)trigger edge

10-70 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PSetting the Trigger DelayVia paramet

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-71DOK-INDRV*-MP*-02VRS**-FK01-EN-P The transmission of the trigger even

10-72 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PUpon successful comparison of trigge

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-73DOK-INDRV*-MP*-02VRS**-FK01-EN-P Parameter P-0-0031, Oscilloscope: ti

10-74 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P10.11 Serial CommunicationOverview o

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-75DOK-INDRV*-MP*-02VRS**-FK01-EN-P Interface ModeThe serial interface c

10-76 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PFunctional Principle Independent of

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-77DOK-INDRV*-MP*-02VRS**-FK01-EN-P Communication via RS232 InterfaceThe

4-12 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• scaling and polarity parameters, position data format, m

10-78 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PCommunication via RS485 InterfaceThe

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-79DOK-INDRV*-MP*-02VRS**-FK01-EN-P Parameterization and Diagnosis via a

10-80 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PError Messages in the Case of Serial

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-81DOK-INDRV*-MP*-02VRS**-FK01-EN-P Communication with ASCII ProtocolAdd

10-82 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PWrite Access to a ParameterAs a basi

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-83DOK-INDRV*-MP*-02VRS**-FK01-EN-P Read Access to a ParameterAs a basic

10-84 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PWrite Access to List ParametersThere

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-85DOK-INDRV*-MP*-02VRS**-FK01-EN-P Step 8Close list, send end character

10-86 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PRead Access to List ParametersThe re

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-87DOK-INDRV*-MP*-02VRS**-FK01-EN-P Activating a CommandIn the drive con

MPH-02, MPB-02, MPD-02 Master Communication 4-13DOK-INDRV*-MP*-02VRS**-FK01-EN-P The procedure comprises several steps and is controlled by

10-88 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PA command is activated as follows:St

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-89DOK-INDRV*-MP*-02VRS**-FK01-EN-P Command status = 3h?Command status =

10-90 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pbit 2:0 : command correctlyexecuted1

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-91DOK-INDRV*-MP*-02VRS**-FK01-EN-P Input:S-0-0328,7,w,> (CR)?1 (CR)

10-92 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PStructure of the Telegram HeaderThe

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-93DOK-INDRV*-MP*-02VRS**-FK01-EN-P Dynamic part of the telegram headerT

10-94 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PStructure of the Useful Data HeaderN

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-95DOK-INDRV*-MP*-02VRS**-FK01-EN-P bit 0-11: parameter number(0*0001...

10-96 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Puseful data header, the transmitter

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-97DOK-INDRV*-MP*-02VRS**-FK01-EN-P Communication via SIS ProtocolAddres

4-14 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• C0155 Field bus: max. length for cycl. command val. exce

10-98 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PSupported Services and SubservicesSI

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-99DOK-INDRV*-MP*-02VRS**-FK01-EN-P Service 0x01 Canceling a Data Transm

10-100 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PExample:Reading the S-0-0044, Veloc

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-101DOK-INDRV*-MP*-02VRS**-FK01-EN-P The answer to a write access contai

10-102 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PService 0x81 Reading a List Segment

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-103DOK-INDRV*-MP*-02VRS**-FK01-EN-P Examples of Application (Sequential

10-104 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PLast step:Ta0013 f1.fh7useful datat

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-105DOK-INDRV*-MP*-02VRS**-FK01-EN-P tel. headercontrolbytedeviceaddress

10-106 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PErrors in the Case of SIS Communica

MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10-107DOK-INDRV*-MP*-02VRS**-FK01-EN-P Example:Write access to the write-p

MPH-02, MPB-02, MPD-02 Master Communication 4-15DOK-INDRV*-MP*-02VRS**-FK01-EN-P With the S-0-0128, C0200 Communication phase 4 transition c

10-108 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes

MPH-02, MPB-02, MPD-02 Commissioning 11-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 11 Commissioning11.1 Commissioning MotorsChecking the Installation

11-2 Commissioning MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PAs a matter of principle, commissioning can be carried out by mean

MPH-02, MPB-02, MPD-02 Commissioning 11-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningSee "Initial Start in "Easy Startu

11-4 Commissioning MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: The incorrect actual position value generated in this caseca

MPH-02, MPB-02, MPD-02 Commissioning 11-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: For controllers with control section type designations"

11-6 Commissioning MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PSequence for activating the "easy startup" mode via the

MPH-02, MPB-02, MPD-02 Commissioning 11-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P element 1, with negative sign to element 2 of P-0-1206, Memory ofv

11-8 Commissioning MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P1.Er.Anz3 P2standard display"Enter" buttonextended d

MPH-02, MPB-02, MPD-02 Commissioning 11-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The following has to be observed for step 2:• During the in

MPH-02, MPB-02, MPD-02 Contents VDOK-INDRV*-MP*-02VRS**-FK01-EN-PDiagnostic and Status Messages, Acknowledgment...

4-16 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: The bits in the signal control word are processed in

11-10 Commissioning MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PInitial Start with DriveTop Commissioning ToolBrief DescriptionAf

MPH-02, MPB-02, MPD-02 Commissioning 11-11DOK-INDRV*-MP*-02VRS**-FK01-EN-P Functional DescriptionBefore the initial start of the motor, the

11-12 Commissioning MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes on Commissioning in Conjunction with DriveTopand SYSDA02.2T

MPH-02, MPB-02, MPD-02 Commissioning 11-13DOK-INDRV*-MP*-02VRS**-FK01-EN-P 11. If "RL" is not flashing on right side next to drive

11-14 Commissioning MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: For initial start of kit motors it is important first to ch

MPH-02, MPB-02, MPD-02 Commissioning 11-15DOK-INDRV*-MP*-02VRS**-FK01-EN-P Schematic SequenceCommissioning procedure as a sequence of steps:

11-16 Commissioning MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PTo explain the individual commissioning steps we refer to the Not

MPH-02, MPB-02, MPD-02 Commissioning 11-17DOK-INDRV*-MP*-02VRS**-FK01-EN-P Configuring the Holding BrakeIf the motor to be controlled is equ

11-18 Commissioning MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-POn the user-side, the limitation of the actual velocity value to

MPH-02, MPB-02, MPD-02 Commissioning 11-19DOK-INDRV*-MP*-02VRS**-FK01-EN-P • settings for the determined primary or secondary operating mod

MPH-02, MPB-02, MPD-02 Master Communication 4-17DOK-INDRV*-MP*-02VRS**-FK01-EN-P Diagnostic Messages and Error MessagesWhen entering data in

11-20 Commissioning MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes

MPH-02, MPB-02, MPD-02 Index 12-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 12 IndexAabsolute encoder emulation 9-19, 9-24restrictions 9-27absolute me

12-2 Index MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pin drive-internal interpolation 7-23in position control 7-18in torque/forc

MPH-02, MPB-02, MPD-02 Index 12-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P drive control 6-1drive control commands 1-4, 4-3drive controllerscontrol s

12-4 Index MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Plogbook function 10-56monitoring function 10-55patch function 10-57extend

MPH-02, MPB-02, MPD-02 Index 12-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P interrogating the command status 10-89inverters 6-88IxR Boost 6-7Jjerk li

12-6 Index MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Pmotor parameter values, determining for third-party motors 5-31motor parame

MPH-02, MPB-02, MPD-02 Index 12-7DOK-INDRV*-MP*-02VRS**-FK01-EN-P phase synchronization with real/virtual master axis 7-102position controlbl

12-8 Index MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-Psequential block processing 7-60SERCOS interface 4-32commissioning the SER

MPH-02, MPB-02, MPD-02 Index 12-9DOK-INDRV*-MP*-02VRS**-FK01-EN-P transition check commands 4-13transmission protocols 10-75travel range lim

4-18 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PThe signal status word can have the following configuration

12-10 Index MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes

MPH-02, MPB-02, MPD-02 Service & Support 13-1DOK-INDRV*-MP*-02VRS**-FK01-EN-P 13 Service & Support13.1 HelpdeskUnser Kundendienst-H

13-2 Service & Support MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P13.5 Kundenbetreuungsstellen - Sales & Service Facilit

MPH-02, MPB-02, MPD-02 Service & Support 13-3DOK-INDRV*-MP*-02VRS**-FK01-EN-P Europa (West) - Europe (West)vom Ausland: (0) nach Landesk

13-4 Service & Support MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PEuropa (Ost) - Europe (East)vom Ausland: (0) nach Landeske

MPH-02, MPB-02, MPD-02 Service & Support 13-5DOK-INDRV*-MP*-02VRS**-FK01-EN-P Africa, Asia, Australia – incl. Pacific RimAustralia - Aus

13-6 Service & Support MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNordamerika – North AmericaUSAHeadquarters - Hauptniederla

Printed in GermanyDOK-INDRV*-MP*-02VRS**-FK01-EN-PR911299225Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebe

MPH-02, MPB-02, MPD-02 Master Communication 4-19DOK-INDRV*-MP*-02VRS**-FK01-EN-P 4.3 Profile Types (with Field Bus Interfaces)OverviewWhen

4-20 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PBy selecting a profile type, the commissioning of field bus

MPH-02, MPB-02, MPD-02 Master Communication 4-21DOK-INDRV*-MP*-02VRS**-FK01-EN-P • P-0-4083, Field bus: length of parameter channel• P-0-4

4-22 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P See Parameter Description "P-0-4068, Field bus: con

MPH-02, MPB-02, MPD-02 Master Communication 4-23DOK-INDRV*-MP*-02VRS**-FK01-EN-P Interaction of control and status bits (status machine):DC0

4-24 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: The data for the field bus status word refer to the I

MPH-02, MPB-02, MPD-02 Master Communication 4-25DOK-INDRV*-MP*-02VRS**-FK01-EN-P Note: The parameter P-0-4077, Field bus control word orP-0-

VI Contents MPH-02, MPB-02, MPD-02DOK-INDRV*-MP*-02VRS**-FK01-EN-PNotes on Commissioning ...

4-26 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P See Parameter Description "S-0-0144, Signal status

MPH-02, MPB-02, MPD-02 Master Communication 4-27DOK-INDRV*-MP*-02VRS**-FK01-EN-P Interaction of control and status bits (status machine):DC0

4-28 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PExemplary ConfigurationsAll of the following examples of co

MPH-02, MPB-02, MPD-02 Master Communication 4-29DOK-INDRV*-MP*-02VRS**-FK01-EN-P Drive-Internal Interpolation• "Drive-internal interpo

4-30 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDrive-Controlled Positioning• "Drive-controlled posit

MPH-02, MPB-02, MPD-02 Master Communication 4-31DOK-INDRV*-MP*-02VRS**-FK01-EN-P • This allows, among other things, starting commands conta

4-32 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P4.4 SERCOS interfaceBrief Description• cyclical data excha

MPH-02, MPB-02, MPD-02 Master Communication 4-33DOK-INDRV*-MP*-02VRS**-FK01-EN-P • S-0-0024, Config. list of the master data telegram• S-0

4-34 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-P• F4005 Error during phase regression• F4006 Phase switch

MPH-02, MPB-02, MPD-02 Master Communication 4-35DOK-INDRV*-MP*-02VRS**-FK01-EN-P controller 1TXRXcontroller 2controller 3DF0024v1.fh7X21 RXX

MPH-02, MPB-02, MPD-02 Contents VIIDOK-INDRV*-MP*-02VRS**-FK01-EN-PIDN Lists of Parameters...

4-36 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PRanges of length for the connected fiber optic cable:• up

MPH-02, MPB-02, MPD-02 Master Communication 4-37DOK-INDRV*-MP*-02VRS**-FK01-EN-P Sometimes it is possible to recognize a defective fiber opt

4-38 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDrive EnableThe drive is activated by a positive edge of th

MPH-02, MPB-02, MPD-02 Master Communication 4-39DOK-INDRV*-MP*-02VRS**-FK01-EN-P readiness for operation. For example, in the case of asynch

4-40 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PPossible error messages could be:• F4001 Double MST failur

MPH-02, MPB-02, MPD-02 Master Communication 4-41DOK-INDRV*-MP*-02VRS**-FK01-EN-P Notes on CommissioningOnly parameters contained in S-0-0399

4-42 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PDF000094v01_en.fh7parameter channel process data channelcyc

MPH-02, MPB-02, MPD-02 Master Communication 4-43DOK-INDRV*-MP*-02VRS**-FK01-EN-P • mapping of all device parameters to manufacturer-specifi

4-44 Master Communication MPH-02, MPB-02, MPD-02 DOK-INDRV*-MP*-02VRS**-FK01-EN-PNote: The device data sheet for IndraDrive controllers supp

MPH-02, MPB-02, MPD-02 Master Communication 4-45DOK-INDRV*-MP*-02VRS**-FK01-EN-P Field bus: length of cyclic command value data channel that