Bosch REXROTH IndraDrive Applications Manual page 64
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Bosch Rexroth AG
Synchronous Multi-Axis Motion With Virtual Master Axis
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
Fig.7-12:
IndraWorks Dialog to set the Position Synchronization Mode "Electronic
Motion Profile"
In the parameter "P‑0‑0703, Number of motion steps, set 0", you have defined
2 of 8 possible motion steps with these settings. Define the master axis range
in which the corresponding motion step is contained via the parameter
"P‑0‑0705, List of master axis initial positions, set 0". Observe that the motion
step 1 always starts with the master axis initial position "0 degrees". The second
motion step in this example is from 180 degrees to 360 degrees or 0 degrees.
Define the master axis position with which the motion step is accessed by the
parameter "P‑0‑0227, Cam table, access angle". Set the processing mode for
each motion step via the parameter "P‑0‑0706, List of motion step modes, set
0". For this example, the mode "rest in rest via a 5th order polynomial" was
selected for both motion steps; i.e. the drive is in standstill at the beginning and
at the end. Set the distance for the corresponding motion step via the parameter
"P‑0‑0707, List of distances, set 0". The feed motion in this example is realized
in motion step 1. The distance value of step 1 defines the feed length and was
set to 180 degrees. In the second motion step, motion is not to take place. That
is why the distance was set to zero in this step. In addition, bit 10 (position data
processing [electr. motion profile]) of the parameter "P‑0‑0088, Control word
synchronization modes" was set to "1" (relative). In the case of relative pro‐
cessing, a motion step begins at the point where the previous motion step
ended. All other settings are made in the program via the function block
"MB_MotionProfile".
DOK-INDRV*-MLD-APPLI**-AW02-EN-P
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