Page 1 Industrial Electric Drives Linear Motion and Service Mobile Hydraulics and Controls Assembly Technologies Pneumatics Automation Hydraulics Rexroth IndraDrive R911299225 Firmware for Drive Controllers Edition 01 MPH-02, MPB-02, MPD-02 Functional Description...
Page 2 Date DOK-INDRV*-MP*-02VRS**-FK01-EN-P 03.2004 First Edition  2004 Bosch Rexroth AG Copyright Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1).
Page 3: Table Of Contents
MPH-02, MPB-02, MPD-02 Contents Contents System Overview General Information ........................1-1 Overview of Drive Firmware..................... 1-1 Terms, Basic Principles ......................1-2 How to Use this Documentation....................1-7 Drive Controllers ......................... 1-10 Overview ..........................1-10 Power Sections ........................1-11 Control Sections........................1-11 Motors and Measuring Systems ....................
Page 4 Contents MPH-02, MPB-02, MPD-02 3.10 Protection During Handling and Mounting .................. 3-10 3.11 Battery Safety..........................3-11 3.12 Protection Against Pressurized Systems ..................3-11 Master Communication Basic Functions of Master Communication................... 4-1 Address Assignment ........................ 4-1 Command Processing......................4-3 Device Control (Status Machine) ..................... 4-5 Possibilities of Control/Additional Functions ................
Page 5 MPH-02, MPB-02, MPD-02 Contents Motor Holding Brake ........................ 5-5 Rexroth Motors..........................5-17 Basics on Rexroth Motors...................... 5-17 Rexroth Housing Motors with Encoder Data Memory ............5-19 Rexroth Housing Motors without Encoder Data Memory ............5-21 Rexroth Kit Motors ......................... 5-23 Rexroth Kit Motors, Synchronous ..................
Page 6 Contents MPH-02, MPB-02, MPD-02 Current and Torque Limitation (Closed-Loop) ............... 6-64 Velocity Limitation ........................6-71 Position Limitation/Travel Range Limit Switch............... 6-72 Power Supply ..........................6-79 Possibilities of Power Supply for IndraDrive ................6-79 Functional Description ......................6-83 Notes on Commissioning ....................... 6-91 Operating Modes Overview of Operating Modes ......................
Page 7 MPH-02, MPB-02, MPD-02 Contents Diagnostic and Status Messages, Acknowledgment............. 7-73 Synchronization Modes....................... 7-76 Basic Functions of the Synchronization Modes ..............7-76 Velocity Synchronization with Real/Virtual Master Axis............7-96 Phase Synchronization with Real/Virtual Master Axis ............7-102 Electronic Cam Shaft with Real/Virtual Master Axis ............7-112 Drive Functions Drive Halt ............................
Page 8 Contents MPH-02, MPB-02, MPD-02 Notes on Commissioning ....................... 8-84 Diagnostic Messages......................8-85 8.10 Rexroth IndraMotion MLD-S (Drive-Integrated PLC)..............8-86 Brief Description........................8-86 Notes on Installation/System Configuration................8-88 Overview of Available Libraries....................8-89 8.11 Drive-Integrated Safety Technology ................... 8-91 Safety Related Starting Lockout .................... 8-91 Integrated Safety Functions ....................
Page 9 MPH-02, MPB-02, MPD-02 Contents IDN Lists of Parameters....................... 10-11 Using a Password ........................ 10-13 10.2 Device Configuration......................... 10-17 Controller Design ......................... 10-17 Circuit Board Code....................... 10-18 Hours-Run Meter ......................... 10-19 Error Memory (Power Section and Control Section) ............10-20 10.3 Diagnostic System ........................10-21 Coded Diagnostic Drive Messages..................
Page 10 VIII Contents MPH-02, MPB-02, MPD-02 10.11 Serial Communication ....................... 10-74 Overview of Serial Communication..................10-74 Functional Principle Independent of Protocol ..............10-76 Communication with ASCII Protocol..................10-81 Communication with SIS Protocol ..................10-91 11 Commissioning 11-1 11.1 Commissioning Motors........................ 11-1 Checking the Installation/Assembly ..................
Page 11: System Overview
MPH-02, MPB-02, MPD-02 System Overview System Overview General Information Overview of Drive Firmware Firmware Variants For the IndraDrive range, there are different application-related firmware variants available that are characterized by their scope of functions and their performance: • MTH: Drives for Machine Tool Applications with SERCOS interface (Advanced Performance and Functionality) •...
Page 12: Terms, Basic Principles
System Overview MPH-02, MPB-02, MPD-02 Organization of the Firmware For application-specific definition of drive functionality the firmware functions are divided into different "functional packages". There are a generally available basic package and various additional functional packages (e.g. drive-integrated safety technology, IndraMotion MLD-S) that can be optionally activated.
Page 13 MPH-02, MPB-02, MPD-02 System Overview Saving application-specific parameter values is required in the following Saving Parameter Values cases: • after initial commissioning of the machine axis or the motor • before replacing the controller for servicing (if possible) Application-specific parameter values can be saved via: •...
Page 14 System Overview MPH-02, MPB-02, MPD-02 The drive firmware allows activating and deactivating the write protection Kinds of Passwords for parameter values by means of three hierarchically different passwords: • Customer password The parameter values of a parameter group combined by the customer can be protected.
Page 15 MPH-02, MPB-02, MPD-02 System Overview Operating Modes The selection of operating modes defines which command values will be processed in which way, in order to lead to the desired drive motion. The operating mode does not determine how these command values are transmitted from the master to the slave.
Page 16 System Overview MPH-02, MPB-02, MPD-02 Errors Depending on the active operating mode and the parameter settings, many monitoring functions are carried out. If a status is detected that affects or prevents correct operation the drive firmware generates an error message. Error Classes Errors are classified in different error classes.
Page 17: How To Use This Documentation
MPH-02, MPB-02, MPD-02 System Overview If a drive error occurs while operating with drive enable having been set, Clearing Error Messages when Drive Enable Was Set the drive carries out an error reaction. The drive automatically deactivates itself at the end of each error reaction; in other words, the output stage is switched off and the drive switches from an energized to a de-energized state.
Page 18 System Overview MPH-02, MPB-02, MPD-02 The detailed description of the parameters, their function and structure is contained in the separate documentation "Rexroth IndraDrive, Parameter Description". The detailed description of the diagnostic messages, their causes remedies contained separate documentation "Rexroth IndraDrive, Troubleshooting Guide" (description of diagnostic messages).
Page 19 MPH-02, MPB-02, MPD-02 System Overview Note: In many cases the availability of certain functions within the functional packages also depends on design, variant and characteristic of the firmware. The exact dependence of the firmware functions on the design of hardware and firmware can be seen in the tables in section "Functional Packages".
Page 20: Drive Controllers
1-10 System Overview MPH-02, MPB-02, MPD-02 Drive Controllers Overview Design of the IndraDrive Controllers An IndraDrive controller basically consists of two hardware components: • power section • control section power section Compact IndraDrive C • compact or modular design 1 ... 110 kW •...
Page 21: Power Sections
1-11 MPH-02, MPB-02, MPD-02 System Overview Note: The available control sections are described in the separate documentation "IndraDrive Drive Controllers, Control Sections, Project Planning Manual" (DOK-INDRV*-CSH********-PR**- EN-P; part no. T911295012). Power Sections The following power sections can be operated with this firmware: IndraDrive M Single-Axis The following single-axis power sections can be operated with the FWA-...
Page 22 1-12 System Overview MPH-02, MPB-02, MPD-02 Control Section Configuration The parts of the type designations listed below describe the differences with regard to the possibilities of configuration. The following abbreviations are used: Master communication: • SE → SERCOS interface • PB →...
Page 23 1-13 MPH-02, MPB-02, MPD-02 System Overview Possible types: … Master communication: → SERCOS interface → PROFIBUS-DP → parallel interface → analog interface … optional module 1 (X4): NNN → not equipped EN1 → encoder interface for HSF/resolver EN2 → encoder interface for EnDat/1Vpp sine/TTL signals ENS →...
Page 24 1-14 System Overview MPH-02, MPB-02, MPD-02 … optional module 2 (X8): NNN → not equipped EN1 → encoder interface for HSF/resolver EN2 → encoder interface for EnDat/1Vpp sine/TTL signals ENS → encoder interface for Rexroth standard/HIPERFACE/1Vpp MA1 → analog I/Os MEM →...
Page 25: Motors And Measuring Systems
Optional Encoders IndraDrive firmware can evaluate the following measuring systems as motor encoders or as external optional control encoders: • Bosch Rexroth GDS or GDM encoders (single-turn or multi-turn type) • resolvers according to Rexroth signal specification (single-turn or multi-turn type) •...
Page 26: Master Communication
1-16 System Overview MPH-02, MPB-02, MPD-02 Master Communication In the firmware version FWA-INDRV*-MP*-02VRS (MPH, MPB and MPD types) the following master communication interfaces are available: • SERCOS interface • PROFIBUS interface • parallel interface (not for double-axis type MPD02) • analog interface (not for double-axis type MPD02) SERCOS interface •...
Page 27: Overview Of Functions
1-17 MPH-02, MPB-02, MPD-02 System Overview • "drive enable", "Drive Halt" and "clear error" preset via digital inputs • diagnostic messages such as drive errors and warnings are output via digital outputs Note: In addition to analog command value input, the actual position value has to be transmitted back to the master, too.
Page 28: Functional Packages
1-18 System Overview MPH-02, MPB-02, MPD-02 • drive-internal generation of diagnostic messages • analog output • status displays, status classes • oscilloscope function • monitoring function • patch function • code of optional card • parameter value check • operating hours meter, logbook function, error memory Functional Packages Overview application-specific...
Page 29 1-19 MPH-02, MPB-02, MPD-02 System Overview The firmware functionality is divided into the following package groups: Firmware Scaling by Functional Packages • base packages (open-loop or closed-loop) • optional expansion packages: • alternative functional packages (expansion packages for servo function, main spindle function, synchronization) •...
Page 30 1-20 System Overview MPH-02, MPB-02, MPD-02 The figure below illustrates the possibilities of functional scaling depending on the control performance: BASIC ADVANCED single- and double-axis design single-axis design (firmware MPB02 and MPD02) (firmware MPH02) open-loop closed-loop open-loop closed-loop additive IndraMotion MLD-S functional package main spindle...
Page 31 1-21 MPH-02, MPB-02, MPD-02 System Overview The following alternative functional packages are available: Alternative Functional Packages • Servo functions This package contains all specific expansions for servo applications, such as compensations and correction functions (e.g. axis error correction, quadrant error correction). •...
Page 32 1-22 System Overview MPH-02, MPB-02, MPD-02 Firmware Types That Can Be Ordered Structure of the The type designation of the IndraDrive firmware consists of the following Firmware Type Designation type code elements: IndraDrive firmware Basic single-axis FWA-INDRV* -MPB- VRS- xxx- FWA-INDRV* VRS- xxx-...
Page 33 1-23 MPH-02, MPB-02, MPD-02 System Overview The individual functional packages can be combined to form the following Firmware Types That Can Be Ordered firmware types that can be ordered: Firmware range Control Scope of functional packages section FWA-INDRV*- MPB- VRS- NNN -NN base package (open-loop) FWA-INDRV*- MPB-...
Page 34: Base Packages
1-24 System Overview MPH-02, MPB-02, MPD-02 Base Packages In the base packages of the firmware the minimum scope of functionalities in the respective operating mode ("open-loop" or "closed- loop") is available. They contain the basic functions of a drive firmware and a number of other fundamental functions.
Page 35 1-25 MPH-02, MPB-02, MPD-02 System Overview Scope of Functions of Base Packages Apart from the basic functions there are other functions available in the base package of the firmware. Their scope depends on the firmware variant and its characteristic ("open-loop" or "closed-loop"). The following overview shows the available scope of functions of the respective base package: Firmware variant →...
Page 36 1-26 System Overview MPH-02, MPB-02, MPD-02 FWA-INDRV*-MPB- FWA-INDRV*-MPD- FWA-INDRV*-MPH- Firmware type → 02VRS 02VRS 02VRS (Basic single-axis) (Basic double-axis) (Advanced single-axis) without without without Functions of the base with encoder with encoder with encoder encoder encoder encoder (closed-loop) (closed-loop) (closed-loop) packages (open-loop) (open-loop)
Page 37: Alternative Functional Packages
1-27 MPH-02, MPB-02, MPD-02 System Overview Alternative Functional Packages Apart from the base packages that are always available, we offer optional expansion packages. Part of the expansion packages is the group of alternative functional packages; from this group only one package can be activated at a time (alternative activation).
Page 38: Additive Functional Packages
1-28 System Overview MPH-02, MPB-02, MPD-02 Synchronization Depending on the firmware variant and characteristic, the expansion package "synchronization" has the following scope of functions: Firmware type → FWA-INDRV*-MPB-02VRS FWA-INDRV*-MPD-02VRS FWA-INDRV*-MPH-02VRS (Basic single-axis) (Basic double-axis) (Advanced single-axis) without without without Functions of the expansion with encoder with encoder with encoder...
Page 39 1-29 MPH-02, MPB-02, MPD-02 System Overview Note: The drive-integrated safety technology is a functionality only scalable by means of the hardware and is not part of the expansion packages that can be enabled! IndraMotion MLD-S (Drive-Integrated PLC) The expansion package "IndraMotion MLD-S" makes available the following scope of functions: •...
Page 40 1-30 System Overview MPH-02, MPB-02, MPD-02 Notes DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 41: Important Directions For Use
Note: Bosch Rexroth, as manufacturer, is not liable for any damages resulting from inappropriate use. In such cases, the guarantee and the right to payment of damages resulting from inappropriate use are forfeited.
Page 42: Areas Of Use And Application
Important directions for use MPH-02, MPB-02, MPD-02 Areas of use and application Drive controllers made by Bosch Rexroth are designed to control electrical motors and monitor their operation. Control and monitoring of the motors may require additional sensors and actors.
Page 43: Safety Instructions For Electric Drives And Controls
If you do not have the user documentation for your equipment, contact your local Bosch Rexroth representative to send this documentation immediately to the person or persons responsible for the safe operation of this equipment.
Page 44: Hazards By Improper Use
Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 Hazards by Improper Use High voltage and high discharge current! Danger to life or severe bodily harm by electric shock! DANGER Dangerous movements! Danger to life, severe bodily harm or material damage by unintentional motor movements! DANGER High electrical voltage due to wrong...
Page 45: General Information
MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls General Information • Bosch Rexroth AG is not liable for damages resulting from failure to observe the warnings provided in this documentation. • Read the operating, maintenance and safety instructions in your language before starting up the machine.
Page 46 Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 • Operation is only permitted if the national EMC regulations for the application are met. The instructions for installation in accordance with EMC requirements can be found in the documentation "EMC in Drive and Control Systems".
Page 47: Protection Against Contact With Electrical Parts
MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls Protection Against Contact with Electrical Parts Note: This section refers to equipment and drive components with voltages above 50 Volts. Touching live parts with voltages of 50 Volts and more with bare hands or conductive tools or touching ungrounded housings can be dangerous and cause electric shock.
Page 48: Protection Against Electric Shock By Protective Low Voltage (Pelv)
Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 To be observed with electrical drive and filter components: High electrical voltage on the housing! High leakage current! Danger to life, danger of injury by electric shock! ⇒ Connect the electrical equipment, the housings of all DANGER electrical units and motors permanently with the safety conductor at the ground points before power is...
Page 49: Protection Against Dangerous Movements
MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls Protection Against Dangerous Movements Dangerous movements can be caused by faulty control of the connected motors. Some common examples are: • improper or wrong wiring of cable connections • incorrect operation of the equipment components •...
Page 50 Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 Dangerous movements! Danger to life, risk of injury, severe bodily harm or material damage! ⇒ Ensure personal safety by means of qualified and tested higher-level monitoring devices or measures DANGER integrated in the installation.
Page 51: Protection Against Magnetic And Electromagnetic Fields During Operation And Mounting
MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls ⇒ Disconnect electrical power to the equipment using a master switch and secure the switch against reconnection for: - maintenance and repair work - cleaning of equipment - long periods of discontinued equipment use ⇒...
Page 52: Protection Against Contact With Hot Parts
3-10 Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 Protection Against Contact with Hot Parts Housing surfaces could be extremely hot! Danger of injury! Danger of burns! ⇒ Do not touch housing surfaces near sources of heat! Danger of burns! CAUTION ⇒...
Page 53: 3.11 Battery Safety
3-11 MPH-02, MPB-02, MPD-02 Safety Instructions for Electric Drives and Controls 3.11 Battery Safety Batteries contain reactive chemicals in a solid housing. Inappropriate handling may result in injuries or material damage. Risk of injury by incorrect handling! ⇒ Do not attempt to reactivate discharged batteries by heating or other methods (danger of explosion and cauterization).
Page 54 3-12 Safety Instructions for Electric Drives and Controls MPH-02, MPB-02, MPD-02 Notes DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 55: Master Communication
MPH-02, MPB-02, MPD-02 Master Communication Master Communication Basic Functions of Master Communication The basic functions of master communication apply to each type of master communication, case IndraDrive devices SERCOS interface, field bus interface, parallel and analog interface. The following are the basic functions: •...
Page 56 Master Communication MPH-02, MPB-02, MPD-02 The address is set via the control panel as follows: 1. change to "commands/settings" mode 2.Comand commands/settings "Up" button press "Enter" and "Esc" standard display extended display buttons for 8 seconds e.g.: F2002 1.Er.Anz Fig. 4-2: Activating the "commands/settings"...
Page 57: Command Processing
MPH-02, MPB-02, MPD-02 Master Communication Command Processing Basics Commands are used to control complex functions in the drive. For example, the functions "Drive-controlled homing procedure" or "Transition check for communication phase 4" are defined as commands. The higher-level master can start, interrupt or clear commands. Belonging to each command there is a parameter with which the command can be controlled.
Page 58 Master Communication MPH-02, MPB-02, MPD-02 • 0xF: error, command execution impossible • 0x5: command execution interrupted • 0x3: command correctly executed For master-side detection of a change of the command acknowledgment Command Change Bit by the drive the "command change bit" (KA bit) is available in S-0-0135, Drive status word.
Page 59: Device Control (Status Machine)
MPH-02, MPB-02, MPD-02 Master Communication Device Control (Status Machine) Brief Description The drive status (e.g. Drive Halt, drive errors) represents a specific internal and external drive behavior. The drive status can be exited by defined events (e.g. drive commands, switching of operating modes). Corresponding status transitions are assigned to the events.
Page 60 Master Communication MPH-02, MPB-02, MPD-02 P-0-0116, Device control: control word command execution ® drive ON Bit 15 P-0-0115: Bit 15...13 = 110 ® drive enable Bit 14 Bit 4,3 = 00 WARNING ® Drive Halt Bit 13 S-0-0014: Bit 2...0 = 100 P-0-0115: Bit 2 = 1 P-0-0115, Device control: status word e.g.
Page 61 MPH-02, MPB-02, MPD-02 Master Communication • S-0-0011, Class 1 diagnostics Pertinent Parameters • S-0-0012, Class 2 diagnostics • S-0-0013, Class 3 diagnostics • S-0-0014, Interface status • S-0-0021, IDN list of invalid operating data for communication phase 2 • S-0-0022, IDN list of invalid operating data for communication phase 3 •...
Page 62 Master Communication MPH-02, MPB-02, MPD-02 The figure below illustrates the interaction of the above control and status words: Master communication field bus analog/ SERCOS parallel Rexroth profile I/O mode master comm. S-0-0134 P-0-4077 P-0-4068 P-0-4028 control word master comm. S-0-0135 P-0-4078 S-0-0144 P-0-0115...
Page 63 MPH-02, MPB-02, MPD-02 Master Communication Timing Diagrams for Device Control Note: The control bits in parameter S-0-0134, Master control word are input externally via the master communication (the following examples are valid for SERCOS)! Bit Sequence During Switch-On Process S-0-0134, bit 14 drive enable S-0-0134, bit 15 drive ON...
Page 64 4-10 Master Communication MPH-02, MPB-02, MPD-02 Bit Sequence During Error Reaction S-0-0134, bit 14 drive enable S-0-0134, bit 15 drive ON switch-on process reset S-0-0099 P-0-0115, bit 13 drive error P-0-0115, bit 14 ready for operation P-0-0115, bit 15 ready for operation P-0-0115, bit 3 status of cmd.
Page 65 4-11 MPH-02, MPB-02, MPD-02 Master Communication Communication Phases According to SERCOS Specification Note: For drives of the IndraDrive range the communication phases according to SERCOS specification are valid for all kinds of master communication. The only restriction is that for field bus and parallel/analog interface only the communication phases 2, 3 and 4 are supported.
Page 66 4-12 Master Communication MPH-02, MPB-02, MPD-02 • scaling and polarity parameters, position data format, modulo value • drive control configuration (sampling times, pulse width modulation frequency) • all factory-specific settings (can only be changed via master password) • P3: When changing from P2 → P3 the parameters that can be changed in phase 2 (see above) are checked and scaling-dependent limit values are determined.
Page 67 4-13 MPH-02, MPB-02, MPD-02 Master Communication The procedure comprises several steps and is controlled by the master by presetting communication phases –1 to 4 and starting/completing the following commands: • S-0-0127, C0100 Communication phase 3 transition check • S-0-0128, C0200 Communication phase 4 transition check When the drive has reached communication phase 4 without error, the display reads "bb".
Page 68 4-14 Master Communication MPH-02, MPB-02, MPD-02 • C0155 Field bus: max. length for cycl. command val. exceeded • C0156 Field bus: IDN for cycl. actual val. not configurable • C0155 C0157 Field bus: length for cycl. actual values exceeded • C0158 Field bus: Tcyc (P-0-4076) incorrect •...
Page 69: Possibilities Of Control/Additional Functions
4-15 MPH-02, MPB-02, MPD-02 Master Communication Communication Phase 4 With the S-0-0128, C0200 Communication phase 4 transition check Transition Check command the following checks and initializations are carried out that can possibly cause the listed command errors: • General system checks •...
Page 70 4-16 Master Communication MPH-02, MPB-02, MPD-02 Note: The bits in the signal control word are processed in every interface cycle at the point of time defined in the S-0-0008, Command value valid time (T3) parameter. This functionality can be used, for example, Examples of Use •...
Page 71: Configurable Signal Status Word
4-17 MPH-02, MPB-02, MPD-02 Master Communication Diagnostic Messages and Error Messages When entering data in the parameters S-0-0027, Configuration list signal control word and S-0-0329, Assign list signal control word the following check is run: • If an IDN specified in parameter S-0-0027 is not contained in parameter S-0-0399, IDN list of configurable data in the signal control word, the "0x7008 Invalid data"...
Page 72 4-18 Master Communication MPH-02, MPB-02, MPD-02 The signal status word can have the following configuration, for example: Example Bit no. in S-0-0026 S-0-0328 S-0-0144,Signal IDN of original Bit no. of original status word parameter parameter Meaning S-0-0403 position status Fig. 4-13: Example of configuration of signal status word Note: A maximum of 16 bits can be configured.
Page 73: Profile Types (With Field Bus Interfaces)
4-19 MPH-02, MPB-02, MPD-02 Master Communication Profile Types (with Field Bus Interfaces) Overview When a field bus interface is used for master communication, IndraDrive controllers support two profile types (modes). • I/O mode (functionality similar to parallel interface) • freely configurable mode (functionality similar to SERCOS) →...
Page 74 4-20 Master Communication MPH-02, MPB-02, MPD-02 By selecting a profile type, the commissioning of field bus drives becomes very easy for the user. The advantage of the profile selection is that all important basic settings for the desired drive function are thereby made automatically in the drive.
Page 75: I/O Mode
The bits in parameter P-0-4068, Field bus: control word IO are fixed by Mode Bosch Rexroth and cannot be changed by the user. If additional control bits should be required, the parameter S-0-0145, Signal control word has to be configured accordingly and transmitted to the real-time channel of the field bus.
Page 76 4-22 Master Communication MPH-02, MPB-02, MPD-02 See Parameter Description "P-0-4068, Field bus: control word IO" See Parameter Description "S-0-0145, Signal control word" • In the I/O mode (P-0-4084 = 0xFF82) the parameter S-0-0144, Signal Signal Status Word in I/O Mode status word is transmitted instead of the field bus status word (P-0-4078).
Page 77 4-23 MPH-02, MPB-02, MPD-02 Master Communication Interaction of control and status bits (status machine): homing S-0-0144 P-0-4068, Bit 7,6 jogging "01" ® jog + S-0-0144 error situation P-0-4068 P-0-4068 P-0-4068, Bit 7,6 (e.g. F8060) "10" ® jog - Bit 2: 0-1 edge Bit 2: 1-0 edge P-0-4068 Bit 7,6: "01"...
Page 78: Freely Configurable Mode (Rexroth Profile Type)
4-24 Master Communication MPH-02, MPB-02, MPD-02 Note: The data for the field bus status word refer to the I/O mode with block acknowledgment (default configuration). Notes on Parameterization/Commissioning The following settings are made in the I/O mode as default setting: Features with Default Configuration •...
Page 79 See Parameter Description "P-0-4078, Field bus: status word" For this profile type the field bus control word or status word is preset by Bosch Rexroth and cannot be changed by the user. If freely configurable control and status bits are required, the signal control word or signal status word has to be configured in the cyclic channel in addition to the available field bus status word or field bus control word.
Page 80 4-26 Master Communication MPH-02, MPB-02, MPD-02 See Parameter Description "S-0-0144, Signal status word" See Parameter Description "S-0-0145, Signal control word" Note: With field bus drives the parameters P-0-0116, Device control: control word and P-0-0115, Device control: status word are only used for diagnostic purposes. The actual control and status information is contained in the parameters P-0-4077, Field bus control word and P-0-4078, Field bus status word.
Page 81 4-27 MPH-02, MPB-02, MPD-02 Master Communication Interaction of control and status bits (status machine): homing WARNING P-0-4078 P-0-4078 1 1 0 0 x jogging P-0-4077 1 1 0 1 x Bit 6 or 7 = 1 P-0-4078 1 1 0 0 x P-0-4077 P-0-4077 P-0-4077...
Page 82: Exemplary Configurations
4-28 Master Communication MPH-02, MPB-02, MPD-02 Exemplary Configurations All of the following examples of configuration are referring to the freely configurable mode (P-0-4084 = 0xFFFE). This mode provides the highest degree of flexibility and the highest number of possibilities to use the available drive functions of the field bus master communication.
Page 83 4-29 MPH-02, MPB-02, MPD-02 Master Communication Drive-Internal Interpolation • "Drive-internal interpolation, encoder 1, lagless" must have been set Features/Settings as the primary mode of operation in parameter S-0-0032 (see also "Drive-Internal Interpolation" in chapter "Operating Modes"). • Via the field bus, the contents of the parameters S-0-0258, Target position and S-0-0259, Positioning Velocity, as well as S-0-0051, Position feedback 1 value and S-0-0040, Velocity feedback value are cyclically transmitted.
Page 84 4-30 Master Communication MPH-02, MPB-02, MPD-02 Drive-Controlled Positioning • "Drive-controlled positioning, encoder 1, lagless" must have been set Features/Settings as the primary mode of operation in parameter S-0-0032 (see also "Drive-Controlled Positioning" in chapter "Operating Modes"). • The Rexroth-specific definitions for the field bus control and status words are applying (also see section "Freely Configurable Mode (Rexroth Profile Type)").
Page 85 4-31 MPH-02, MPB-02, MPD-02 Master Communication • This allows, among other things, starting commands contained in parameter S-0-0399, IDN list of configurable data in the signal control word (see "Configurable Signal Control Word"). • It is possible to read any bit in any parameter (see "Configurable Signal Status Word").
Page 86: Sercos Interface
4-32 Master Communication MPH-02, MPB-02, MPD-02 SERCOS interface Brief Description • cyclical data exchange of command and actual values in equal time General Features intervals • data transfer via fiber optic cables (except for converter in motor, in this case copper conductor) •...
Page 87 4-33 MPH-02, MPB-02, MPD-02 Master Communication • S-0-0024, Config. list of the master data telegram • S-0-0028, MST error counter • S-0-0029, MDT error counter • S-0-0088, Receive to receive recovery time (TMTSY) • S-0-0089, MDT Transmit starting time (T2) •...
Page 88: Commissioning The Sercos Interface
4-34 Master Communication MPH-02, MPB-02, MPD-02 • F4005 Error during phase regression • F4006 Phase switching without ready signal Commissioning the SERCOS interface To commission the interface you basically have to carry out the following steps: • connect the fiber optic cables •...
Page 89 4-35 MPH-02, MPB-02, MPD-02 Master Communication SERCOS master X20 TX X20 TX X20 TX X21 RX X21 RX X21 RX Enter Enter Enter controller 3 controller 2 controller 1 DF0024v1.fh7 Fig. 4-19: Connecting the fiber optic cables (example) The fiber optic cable ring starts and ends at the SERCOS master (control unit).
Page 90 4-36 Master Communication MPH-02, MPB-02, MPD-02 Ranges of length for the connected fiber optic cable: • up to 15 m • 15 m to 30 m • 30 m to 45 m • more than 45 m and glass fiber Transmission Rate of the SERCOS interface The transmission rate is preset by the master, automatically recognized by the drive, set accordingly and displayed in the P-0-4087, Baud rate...
Page 91: Cyclic Data Transfer
4-37 MPH-02, MPB-02, MPD-02 Master Communication Sometimes it is possible to recognize a defective fiber optic cable by the fact that hardly any light comes out at its end or that the optical fiber was "drawn back" into the connector (check the face of the connector). Further checks of the fiber optic cable cannot be carried out with simple means.
Page 92 4-38 Master Communication MPH-02, MPB-02, MPD-02 Drive Enable The drive is activated by a positive edge of the drive enable signal. In the case of drive controllers with SERCOS interface, the drive enable signal corresponds to bit 15 in the master control word of the master data telegram.
Page 93: Transmission Of Non-Cyclical Data
4-39 MPH-02, MPB-02, MPD-02 Master Communication readiness for operation. For example, in the case of asynchronous motors this time is used to magnetize the motor. If drive enable is disabled, the drive performs the reaction parameterized by parameter P-0-0119, Best possible deceleration. In this case, too, time passes between resetting and confirming the reset.
Page 94: Real-Time Control Bits And Real-Time Status Bits
4-40 Master Communication MPH-02, MPB-02, MPD-02 Possible error messages could be: • F4001 Double MST failure shutdown • F4002 Double MDT failure shutdown • F4003 Invalid communication phase shutdown • F4004 Error during phase progression • F4005 Error during phase regression •...
Page 95: Profibus-Dp
4-41 MPH-02, MPB-02, MPD-02 Master Communication Notes on Commissioning Selection List S-0-0399 Only parameters contained in S-0-0399, IDN list of configurable data in the signal control word can be assigned to the parameters S-0-0301 or S-0-0303 (assignment of real-time control bit 1 or 2). Note: The real-time control bits are processed in every interface cycle at the point of time defined in the S-0-0008, Command...
Page 96 DF000094v01_en.fh7 Fig. 4-21: Structure of cyclic data channel Note: To simplify field bus communication Bosch Rexroth makes available function blocks for different programmable logic controllers (PLCs). The principles applied to the function blocks can be easily used for other field bus masters.
Page 97: Configuring The Profibus-Dp Slave
4-43 MPH-02, MPB-02, MPD-02 Master Communication • mapping of all device parameters to manufacturer-specific ProfiDrive objects Pertinent Parameters • P-0-4068, Field bus: control word IO • P-0-4069, Field bus: module diagnosis • P-0-4071, Field bus: length of cyclic command value data channel •...
Page 98 4-44 Master Communication MPH-02, MPB-02, MPD-02 Note: The device data sheet for IndraDrive controllers supports all hardware types and enabling of functional packages. IndraDrive controllers assign their data to ten modules all of which have to be configured: • module 1: F-module (optional) •...
Page 99 4-45 MPH-02, MPB-02, MPD-02 Master Communication Field bus: length of cyclic command value data channel that indicates the length in bytes. Note: If the configuration of the master does not correspond with the one of the IndraDrive controller, the IndraDrive device will generate the error message F4012 Incorrect I/O length.
Page 100: Parameter Channel In The Cyclic Channel (Device-Specific)
4-46 Master Communication MPH-02, MPB-02, MPD-02 Length of the Process Data Channel (Real-Time Data Channel) Within the cyclic channel, the parameter channel (optional) and the process data channel, in which the real-time data of the drive controller are transmitted, are arranged. The PROFIBUS slave circuit allows flexible configuration of the process data channel, the length of the process data channel thereby changing accordingly.
Page 101 4-47 MPH-02, MPB-02, MPD-02 Master Communication Object Directory for PROFIBUS-DP (ProfiDrive) For PROFIBUS-DP there wasn’t any object directory defined. Acyclic access to drive parameters is only possible via the parameter channel. In order to make acyclic parameter access as easy as possible (without Object Definition SIS telegrams), objects were assigned to drive parameters.
Page 102 4-48 Master Communication MPH-02, MPB-02, MPD-02 Without considering a fragmentation or an error, the parameter channel when writing a parameter is made up of: Control word Index Sub-index Data M → S 2 bytes 2 bytes 2 bytes max. 80 bytes Status word S →...
Page 103 4-49 MPH-02, MPB-02, MPD-02 Master Communication The control unit writes a new operating data to parameter S-0-0057. It is a Non-Fragmented Writing without Error double word, fragmentation therefore is not necessary. The value is 200. The drive returns an acknowledgment that mirrors the length.
Page 104: Dpv1 Parameter Communication (Profidrive)
4-50 Master Communication MPH-02, MPB-02, MPD-02 The control unit writes data to parameter P-0-4006. It is a list of double Fragmented Writing words. In the example below it is to contain 100 (64h), 200 (C8h), 300 (12Ch), 400 (190h), 500 (1F4) and 600 (258h). First the list pointer (sub-index 10) is set to zero.
Page 105 4-51 MPH-02, MPB-02, MPD-02 Master Communication Parameter Exchange via DPV1 Services The parameter exchange described below is executed via DPV1 telegram frame. The following sequence is run: MASTER SLAVE parameter parameter request request Write.req + data Write.res (+) Read.req Read.res (-) Read.req parameter parameter...
Page 106: Cyclic Communication Via Process Data Channel
4-52 Master Communication MPH-02, MPB-02, MPD-02 ProfiDrive parameter request via DPV1 Change Parameter request request reference request ID header 1 to 255 2 = change parameter axis number of parameters parameter attribute number of elements address 16 = value parameter number sub-index parameter format...
Page 107: Monitoring Functions And Diagnostic Functions
4-53 MPH-02, MPB-02, MPD-02 Master Communication Monitoring Functions and Diagnostic Functions Monitoring Functions As a standard, the time required for the watchdog monitoring function is Watchdog for Cyclic Communication automatically calculated and configured. It is displayed in parameter P-0-4075, Field bus: watchdog (in ms). Note: The entry "0"...
Page 108 4-54 Master Communication MPH-02, MPB-02, MPD-02 Error Codes of PROFIBUS Communication Parameter Channel Errors Error code Significance 0x0082 number of all transmitted data is too low, i.e. less than 4 bytes 0x0083 number of data still to be transmitted is greater than the internal buffer 0x0088 The length of the valid data indicated in the control word is...
Page 109 4-55 MPH-02, MPB-02, MPD-02 Master Communication 0x3004 Attribute cannot be changed (read only) 0x4001 No units 0x4004 Unit cannot be changed (read only) 0x5001 No minimum input value 0x5004 Minimum input value cannot be changed (read only) 0x6001 No maximum input value 0x6004 Maximum input value cannot be changed (read only)
Page 110: Parallel Interface
4-56 Master Communication MPH-02, MPB-02, MPD-02 Parallel Interface Brief Description It is possible to operate IndraDrive controllers with a parallel interface as master communication. This requires the control section design with the master communication option "parallel interface (PL)" with 16 digital inputs and 16 digital outputs, The master communication interface with parallel interface is optionally available for the following configurable control sections:...
Page 111 4-57 MPH-02, MPB-02, MPD-02 Master Communication The enable signal is accepted, i.e. the drive switches from its de- energized status to its energized status, when the following conditions have been fulfilled: • There mustn’t be any drive error present. • The drive must be in operating mode (phase 4). •...
Page 112 4-58 Master Communication MPH-02, MPB-02, MPD-02 Bit number in Digital input signal control word of the parallel interface X15 pin 1 X15 pin 20 X15 pin 2 X15 pin 21 X15 pin 3 X15 pin 22 X15 pin 4 X15 pin 23 X15 pin 5 X15 pin 24 X15 pin 6...
Page 113: Notes On Commissioning/Parameterization
4-59 MPH-02, MPB-02, MPD-02 Master Communication X15 pin 33 X15 pin 15 X15 pin 34 X15 pin 16 X15 pin 17 X15 pin 36 X15 pin 18 X15 pin 37 Fig. 4-37: Assignment of signal status word to digital outputs See also "Configurable Signal Status Word"...
Page 114 4-60 Master Communication MPH-02, MPB-02, MPD-02 Bit number in Configured signal control parameter Function/significance word P-0-4026 bit 0 positioning block selection P-0-4026 bit 1 positioning block selection P-0-4026 bit 2 positioning block selection P-0-4026 bit 3 positioning block selection P-0-4026 bit 4 positioning block selection P-0-4026 bit 5 positioning block selection...
Page 115 4-61 MPH-02, MPB-02, MPD-02 Master Communication Change of Operating Mode via Parallel Interface To change the operating mode bits 8 and 9 of parameter P-0-4028, Device control word have to be assigned to the digital inputs. By setting the inputs, the bits for operating mode selection (primary mode of operation and three secondary operating modes) are then set.
Page 116: Diagnostic And Status Messages
4-62 Master Communication MPH-02, MPB-02, MPD-02 See also descriptions of the respective parameters in the separate documentation "Rexroth IndraDrive, Parameter Description" Bit number in Configured signal status word parameter Function/significance P-0-0115 bit 1 status of device control "ready" S-0-0330 bit 0 n_actual = n_command S-0-0403 bit 0 status reference encoder...
Page 117: Analog Interface
4-63 MPH-02, MPB-02, MPD-02 Master Communication Analog Interface Brief Description Overview Apart from the digital master communication interfaces (SERCOS, PROFIBUS…), the drive controllers of the IndraDrive range provide an interface for analog master communication (analog interface). This allows assigning an analog command value to a drive parameter (e.g. S-0-0036, Velocity command value).
Page 118 4-64 Master Communication MPH-02, MPB-02, MPD-02 Features The analog interface is an interface for master communication with analog command values and digital I/Os (drive enable, Drive Halt...) with the following features: • analog inputs (12 bit) to be assigned to parameters, with offset and scaling to be set (number depending on control section design) •...
Page 119 4-65 MPH-02, MPB-02, MPD-02 Master Communication Pertinent Parameters • P-0-0115, Device control: status word • P-0-0116, Device control: control word • P-0-4028, Device control word • P-0-0300, Digital I/Os, assignment list Digital I/Os • P-0-0301, Digital I/Os, bit numbers • P-0-0302, Digital I/Os, direction •...
Page 120: Functional Description
4-66 Master Communication MPH-02, MPB-02, MPD-02 Functional Description Controlling the Drive With the analog interface the drive is controlled via the digital inputs of the control section. Via the list parameter P-0-0300, Digital I/Os, assignment list parameter IDNs are assigned to the pins of connectors X31, X32, X33 and X11 on the control section.
Page 121 4-67 MPH-02, MPB-02, MPD-02 Master Communication When drive enable is set and the "Drive Halt" signal is active (P-0-4028 or "Drive Halt" Signal P-0-0116, bit 13 = 0), • the display of the control panel changes to "AH" and • the diagnostic drive message then is A0010 Drive HALT and thereby signals the activation of "Drive Halt".
Page 122: Notes On Commissioning/Parameterization
If the higher-level master and the drive have not been synchronized, beat effects can occur during sampling due to the different clock-pulse rates. Bosch Rexroth therefore recommends not to use the analog interface in high end applications but in these cases use digital interfaces, such as SERCOS interface.
Page 123 4-69 MPH-02, MPB-02, MPD-02 Master Communication • in target position during spindle positioning (S-0-0336, Message In position) • torque limit value reached (S-0-0334, Message ’T >= Tlimit’) • torque threshold exceeded (S-0-0333, Message ’T >= Tx’) • speed threshold exceeded (S-0-0335, Message ’n command >...
Page 124: Diagnostic And Status Messages
4-70 Master Communication MPH-02, MPB-02, MPD-02 Diagnostic and Status Messages Information on General Drive Status All important status bits of the status machine of the drive are mapped to parameter P-0-0115, Device control: Status word. Reading and interpreting parameter P-0-0115 provides information on the current status of the drive.
Page 125: Motor, Mechanical Axis System, Measuring Systems
MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Motor, Mechanical Axis System, Measuring Systems General Information on the Operation of Motors with IndraDrive Basics on the Motors to be Controlled Brief Description With the controllers of the IndraDrive range it is possible to control both synchronous motors and asynchronous motors.
Page 126: Motor Temperature Monitoring
Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Note: Rexroth motors, by motor-specific parameter values made available and temperature evaluation adjusted in an optimum way, guarantee easy commissioning, full drive performance and a high degree of operational safety! Motor Parameters: Pertinent Parameters •...
Page 127 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems • P-0-0512, Temperature sensor • P-0-0513, Temperature sensor characteristic • E2051 Motor overtemp. prewarning Pertinent Diagnostic Messages • F2019 Motor overtemperature shutdown • F2021 Motor temperature monitor defective Functional Description Motors with incorporated temperature sensor can be monitored by the controller and protected against damage by thermal overload.
Page 128 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Note: In the case of MHD, MKD, LSF, MBS and MKE motors, the motor temperature, due to the sensor characteristics, can only be determined very inexactly. Shutdown is caused by abrupt resistance increase of the sensor at maximum temperature! The warning and shutdown thresholds (S-0-0201 and S-0-0204) to be set cannot be used!
Page 129: Motor Holding Brake
MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems When this function is activated, the following diagnostic messages are possible: • E2051 Motor overtemp. prewarning • F2019 Motor overtemperature shutdown • F2021 Motor temperature monitor defective Querying the current motor temperature (not in the case of the characteristic temperature sensor number "1"...
Page 130 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 • P-0-0539, Holding brake status word • P-0-0540, Torque of motor holding brake • P-0-0541, C2100 Brake check command • P-0-0542, C2000 Command Release motor holding brake • P-0-0543, C3800 Command Apply motor holding brake •...
Page 131 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems See also "Basic Functions of Master Communication: Device Control " in chapter "Master Communication" AF from NC bit 15: 1 bit 14: 1 (AF internal) P-0-0115 drive disables drive ready for command cmd values value acceptance bit 3: 1...
Page 132 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 You have to distinguish the following situations in the case of error: • Drive remains fully operational; "velocity command value reset with or Error Situation 1 without ramp and filter" or "return motion" was set as the error reaction (F2xxx, F4xxx, F6xxx error or NC-side drive enable reset in the case of axis motion).
Page 133 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems AF reset by NC or error, e.g. with "velocity command value to zero" error reaction AF from NC bit 15: 1 bit 14: 1 (AF internal) P-0-0115 bit 3: 1 drive disables NC command values motor released holding...
Page 134 5-10 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 AF reset by NC or error with "return motion" error reaction AF from NC bit 15: 1 bit 14: 1 (AF internal) P-0-0115 bit 3: 1 drive disables NC command values bit 12: 1 target pos.
Page 135 5-11 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems AF reset by NC or error, e.g. with "velocity command value to zero" error reaction AF from NC Bit 15: 1 Bit 14: 1 (AF internal) P-0-0115 Bit 3: 1 drive disables NC command values motor released...
Page 136 5-12 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 • In the case of main drives, the internal drive enable is switched off immediately. The drive coasts to stop. After the velocity has fallen below the minimum value, the holding brake is applied.
Page 137 5-13 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems The controller can check the effectiveness of the holding brake and its Monitoring the Holding Brake released state by starting a routine: • automatically each time the drive enable is set and reset - or - •...
Page 138 5-14 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 command has been completed, the motor has been stopped by velocity control with command value "0". Command C3900 does not check whether the abrasion of the brake was successful! It is therefore recommended to execute command C2100 (brake check) after command C3900! Property damage caused by drive-controlled axis motion when executing the commands for...
Page 139 5-15 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems In this parameter enter the determined time that the drive needs in order to stop the axis out of maximum velocity at maximum inertia or mass with maximum allowed brake torque or brake force. If necessary, increase the determined time to make sure the axis really stops! Danger of damaging the motor brake when value in S-0-0273 is too low!
Page 140 5-16 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 The appropriate value for P-0-0545 can be determined on the basis of the value displayed in • P-0-0546, Starting torque for releasing motor holding brake. Note: The value of P-0-0546 should be provided with a safety factor if used for P-0-0545! See also respective Parameter Description.
Page 141: Rexroth Motors
Rexroth Motors Basics on Rexroth Motors Brief Description Bosch Rexroth’s "Electric Drives and Controls" technology field offers a wide range of motors for equipping machines and installations with drives. With regard to their type of construction the Rexroth electric motors can be divided into: •...
Page 142 5-18 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 • kit motors to be installed in machines and installations; consisting of individual components that are mounted to a moving and as static part of the mechanical system Adjusting Motor/Controller The controllers can be adjusted to Rexroth motors without any problem because the manufacturer provides the respective data set for each motor type.
Page 143: Rexroth Housing Motors With Encoder Data Memory
• MHD, MKE, MKD • in preparation: MSK, MSH, MAD, MAF, MAL Note: The Bosch motor with the type designation "SF..." that can be operated with IndraDrive controllers is equipped with an encoder data memory, too. As regards commissioning and...
Page 144 5-20 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 • P-0-3004, Speed controller smoothing time constant, encoder memory At a command, default control loop parameters can be loaded to the controller. They are useful starting values for further control loop optimization.
Page 145: Rexroth Housing Motors Without Encoder Data Memory
5-21 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems • While the default control loop parameter values and the motor type Diagnostic Messages parameter is loaded the controller signals: C07_0 Load defaults procedure com. (load controller param.) • If the parameter values in the encoder data memory cannot be read: C0706 Error when reading the controller parameters •...
Page 146 5-22 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Dg5005f1.fh7 torque at the motor shaft torque-generating content of the motor current time Fig. 5-10: Influence of the premagnetization factor on the torque Notes on Commissioning Parameter Values Made In the case of Rexroth motors without encoder data memory, the motor- Available specific parameter values made available, such as •...
Page 147: Rexroth Kit Motors
5-23 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Rexroth Kit Motors General Information Kit motors consist of individual components that are mounted to a moving and as static part of the machine’s mechanical system and functionally put together to form a motor. A kit motor consists of the following components: •...
Page 148 5-24 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 • measuring method for motor encoder that can be evaluated in absolute form (distance measurement, currentless Å only possible with linear kit motors) • saturation method (with current Å possible with all types of construction in combination with motor encoders that can be evaluated in absolute form and with relative motor encoders) Note:...
Page 149: Rexroth Kit Motors, Asynchronous
5-25 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Rexroth Kit Motors, Asynchronous Brief Description The following Rexroth kit motors are manufactured according to the "asynchronous motor" functional principle: • 1MB and MBA rotary motors As the motor is assembled in the machine, stator, rotor and measuring system can only be put together on site.
Page 150 5-26 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 For successfully controlling a third-party motor it is first of all necessary to Checking Whether Third-Party Motors Can be Controlled check • whether the third-party motor to be controlled meets the requirements of the controller, •...
Page 151: Requirements On Third-Party Motors
5-27 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Requirements on Third-Party Motors Dielectric Strength of the Winding The dielectric strength of third-party motor windings has to be checked. Depending on the controller that is used there are different loads: Controller type Max.
Page 152: General Information On Controlling Third-Party Motors
5-28 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Available third-party motor Planned third-party motor Calculating the leakage inductance (asynchronous motor) or inductance (synchronous motor) of σ the third-party motor by means of the single-phase substitute connection diagram Motor (manufacturer’s specification!).
Page 153 5-29 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems • P0-0510, Moment of inertia of the rotor • P-0-4014, Type of construction of motor • P-0-4048, Stator resistance • P-0-0533, Voltage loop proportional gain Motor Parameters for Field Weakening Range for •...
Page 154 IndraDrive controller selected for motor control, if these motors have been equipped with holding brakes. Note: For third-party motors Bosch Rexroth, as a matter of principle, does not assume the guarantee for the power data at the motor shaft! In the case of synchronous motors, the commutation offset has to be set first during commissioning.
Page 155: Determining The Motor Parameter Values
5-31 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Asynchronous motors can also be controlled by IndraDrive controllers in Motor Encoder for Asynchronous Third-Party "open-loop" operation. This does not require any motor encoder! "Closed- Motors loop" operation does require a motor encoder, for asynchronous motors a relative measuring system is sufficient.
Page 156 5-32 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Converting the Parameter values from Diax/EcoDrive to IndraDrive Parameters for Synchronous and Asynchronous Motors P-0-4014, Type of construction P-0-4014 (Diax/EcoDrive) P-0-4014 (IndraDrive) P-0-0512 (IndraDrive) of motor; 00000100.00000000 P-0-0512, Temperature sensor 00000001.00000000 00000010.00000000 00000011.00000000...
Page 157 5-33 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems P-0-4041, Motor magnetizing inductance − − − − − − ∗ − − ∗ − − ∗ − − 0051 0051) 4047)/1000 0018 4004 0051 − − ∗ 4041(Indra Drive) 1000 ∗...
Page 158 5-34 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Parameters for Synchronous Motors P-0-4005, Flux-generating current, limit value 4005 0109 (IndraDriv (Diax/EcoD rive) ∗ 4005 0111 (IndraDriv (Diax/EcoD rive) S-0-0109, Motor peak current S-0-0111, Motor current at standstill Fig. 5-29: Conversion to IndraDrive parameter value (the value with the lower absolute value has to be entered with negative sign!) P-0-4016, Direct-axis inductance...
Page 159 5-35 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Required type plate data: 1. Rated current → rms value of the electric current in the motor feed wire (motor phase) at rated load 2. Rated voltage → rms value of the voltage between the motor terminal connectors at rated load 3.
Page 160 5-36 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Other internally calculated motor parameters for asynchronous motors only with "open-loop" operation: • P-0-0569, Maximum stator frequency change • P-0-0570, Stall protection loop proportional gain • P-0-0571, Stall protection loop integral action time •...
Page 161 5-37 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Calculating the torque/force constant with motor at operating temperature P-0-0051, Torque/force constant and rated current or continuous current at standstill: − − rotary synchronou motors 0051 − − linear synchronou motors 0051 rated torque (acc.
Page 162 5-38 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 For asynchronous motors there usually isn’t any value indicated for the maximum allowed peak current. For thermal reasons we recommend limitation according to the following relationships: − − ∗ 0109 Nenn S-0-0109: rms value of maximum total motor current (in A)
Page 163 5-39 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems P-0-4048, Stator resistance − − 4048 P-0-4048: total resistance of the connected motor (in Ω) resistance of the motor between the terminals at 20°C (in Ω) phase resistance of a possibly required choke at 20°C (in Ω) Fig.
Page 164 5-40 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 For asynchronous motors the value for P-0-0534 is determined by: − − − − 0534 4043 P-0-0534: voltage loop integral action time (in ms) P-0-4043: rotor time constant (in ms), see p.5-40 Fig.
Page 165 5-41 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems slip increase only takes effect when temperature sensor that can be evaluated was installed in the end winding of the motor. The following values are depending on the cooling type of the motor: Cooling type of the motor Value for P-0-0530 non-ventilated...
Page 166 5-42 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 If the values of the manufacturer’s specification are not available, they can be determined by measurement by means of approximation: U− − − 4039 inductance of motor between terminals (in mH), third terminal is not connected Fig.
Page 167 5-43 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems − − − − 4040 4041 H(Al 5$O 4043 R(Al ohmic resistance of rotor at 20°C R(Al-St) leakage inductance of rotor 5$O6W motor magnetizing inductance H(Al-St) Fig. 5-57: Value for P-0-4043 (in ms) Determining Other Parameter Values only Relevant for Synchronous Motors P-0-4005, Flux-generating...
Page 168: Forms For Required Manufacturer-Side Output Data
5-44 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Forms for Required Manufacturer-Side Output Data Form for Output Data of Asynchronous Motors Manufacturer, Customer, installation, motor type:_____________________________________ axis designation:________________________________ Designation Symbol/short form Unit Value see ... rated power p. 5-34 rated torque rated current p.
Page 169 5-45 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Form for Output Data of Synchronous Motors Manufacturer, Customer, installation, motor type:_____________________________________ axis designation:_________________________________ Designation Symbol/short Unit Value see ... form rated power rated torque rated force rated current rated speed rated velocity m/ min rated voltage...
Page 170 5-46 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Form for Output Data of Motor Temperature Sensor and Motor Encoder Temperature Sensor Data PTC? NTC? switch contact? Type designation? How many and where installed? Characteristics available? Fig. 5-63: Data of temperature sensor Motor Encoder (if Available) Kind/standard? Signal amplitude?
Page 171: Forms For Parameter Values
5-47 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Forms for Parameter Values Form "Parameters for Asynchronous Motors" Manufacturer, Customer, installation, Motor type:____________________________________ Axis designation:________________________________ Parameter no. Parameter name Value Value set Unit see ... determined Motor parameters S-0-0141 Motor type p.
Page 172 5-48 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Form "Parameters for Synchronous Motors" Manufacturer, Customer, installation, Motor type:____________________________________ Axis designation:___________________________________ Parameter no. Parameter name Value Value set Unit see ... determined Motor Parameters S-0-0141 Motor type p. 5-36 p.
Page 173: Notes On Commissioning
5-49 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Notes on Commissioning First check whether the third-party motor has been connected according to manufacturer’s specification. Note: Third-party motors at IndraDrive controllers should only be commissioned if the form with the motor output data completed by the motor manufacturer is available and the requirements (see "Requirements on Third-Party Motors") were found to have been fulfilled!
Page 174: Measuring Systems
5-50 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 • C3205 Incorrect input for power factor • C3206 Incorrect input for power • C3207 Type plate list incomplete • C3208 Error when writing parameters With the commissioning tool "DriveTop" the output data of the third-party "Third-Party Motor Dialog"...
Page 175 5-51 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Position measuring systems are available for the different kinds of motion Types of Position Measuring Systems in adapted types of construction: • rotary encoders • linear encoders With the appropriate signal specification, encoders in both types of construction can be evaluated by IndraDrive controllers.
Page 176 5-52 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Note: The following applies to these parameters: • In the case of motors with encoder data memory (MHD, MKD, MKE), P-0-0077 is automatically set correctly! • In the case of motors without encoder data memory (2AD, ADF, rotary and linear kit motors), P-0-0077 must be set manually! •...
Page 177 5-53 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Note: In the case of Rexroth housing motors (MHD, MKD, MKE, 2AD, ADF, MAD, MAF) and linear motors with EnDat encoder, the correct value is automatically written to S-0-0116! Maximum Encoder Resolution The analog encoder signals are converted to digital position data via A/D After Digitalization converter.
Page 178 5-54 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Internal Encoder Resolution, motor encoder: internal encoder resolution = S-0-0116/S-0-0256 Linear Encoders ext. encoder: internal encoder resolution = S-0-0117/S-0-0257 auxiliary calculation and drive-internal limitation: S-0-0256 = 2 * S-0-0116 / S-0-0278 <=2 n<=15 (integral!) S-0-0257 = 2 * S-0-0117 / S-0-0278 <=2...
Page 179 5-55 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Internal Resolution of the The position control itself works with the resolution displayed in P-0-0129, Position Data Internal position data format. The value refers to one motor revolution (rotary motor) or one pole pair distance (linear motor) and is limited to 2 In addition, it is influenced by the setting in parameter S-0-0278, Maximum travel range: ±...
Page 180: Monitoring The Measuring Systems
5-56 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Set the resolution (number of lines, division period) of the optional encoder: S-0-0117, Feedback 2 Resolution Set the kind of encoder and the rotational direction of the motor encoder: S-0-0277, Position feedback 1 type Set the kind of encoder and the rotational direction of the optional encoder: S-0-0115, Position feedback 2 type...
Page 181 5-57 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Monitoring the encoder signals allows detecting faulty states, such as: • encoder is dirty • noise injection in the case of inappropriate wire routing or wire design • exceeding the max. allowed encoder velocity (limit frequency of the encoder signals) •...
Page 182 5-58 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Analog sine encoder signals are monitored with regard to two criteria: Signal Monitoring for Sine Encoders • monitoring the signal amplitude • monitoring the quadrant allocation The signals are monitored on the hardware side and on the firmware side. The signal amplitude must be within the allowed voltage range: ∗...
Page 183 5-59 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems When the drive is switched off the current encoder data of the absolute Monitoring the Axis Position when Switching On motor encoder and/or of the absolute external encoder are stored: •...
Page 184 5-60 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 therefore be switched off in this case by the respective value in the P-0-0185, Control word of encoder 2 (optional encoder) parameter. Determining the maximum frequency of the encoder (encoder output frequency): ∗...
Page 185 5-61 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems If the actual position value difference of motor encoder and external Setting the Position Difference Monitor encoder is to be monitored you first have to determine a useful value for the monitoring window, according to the following procedure: 7.
Page 186: Absolute Measuring Systems
5-62 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 When temporarily incorrect encoder signals are detected the drive generates the warning • E2074 Encoder 1: encoder signals disturbed - or - • E2075 Encoder 2: encoder signals disturbed The warning remains active until the drive is switched off or switched to communication phase P2! When incorrect encoder signals are detected the drive generates the error message...
Page 187 5-63 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems For kit motors or directly at the mechanical axis system, the following Absolute Encoders for Kit Motors and External Encoders measuring systems, that can be evaluated in absolute form, can be used: •...
Page 188 5-64 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Note: If absolute evaluation of an encoder is possible but not desired, the absolute evaluation can be switched off by setting the respective bit in the S-0-0277 or S-0-0115 parameters! The encoder can then only be evaluated in relative form! To dimension absolute encoders it is necessary to check by the way of Controlling the Dimensioning...
Page 189 5-65 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems P-0-0019 P-0-0019 Initial commissioning not yet carried out, 0b … 000 motor encoder not "in reference". absolute absolute Initial commissioning was carried out, the 0b … 01x value motor value motor motor encoder was set "in reference".
Page 190: Relative Measuring Systems
5-66 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 If the absolute encoder range of the control encoder is smaller than the value of S-0-0278 you have to check whether the travel range was correctly input or whether the default value is active! Setting the Initial Position Value If desired, it is possible to enter in P-0-0019, Initial position value parameter a defined initial position value for the actual position value of...
Page 191 5-67 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems At a defined position the actual position value of the encoder to be homed is written with the corresponding absolute value of the axis (see also "Establishing the Position Data Reference: Establishing Position Data Reference for Relative Measuring Systems"...
Page 192 5-68 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 The controller is told via S-0-0277, Position feedback 1 type and S-0-0115, Position feedback 2 type which homing signals the connected measuring system makes available. During the homing procedure the controller automatically detects the Reference Marks, Not Distance- Coded reference mark if its signal corresponds to the specification and the...
Page 193 5-69 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Linear Encoders Xref − − general 0165 Xref − − motor encoder 0165 − − 0116 Xref − − ext. encoder 0165 − − 0117 S-0-0165: distance-coded reference offset A in number of DP Xref: travel distance for establishing the absolute reference point in mm DP, S-0-0116, S-0-0117: division period of the relative linear encoder in mm...
Page 194: Mechanical Axis System And Measuring Systems
5-70 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Notes on Commissioning The commissioning guidelines in the sections "Basics on Measuring Systems, Resolution" and "Monitoring the Measuring Systems" have to be observed, too! Setting the Initial Position Value If the actual position value of relative encoders is not to be written with the default value "0"...
Page 195 5-71 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems For information on encoder evaluation and monitoring see also "Basics on Measuring Systems, Resolution" and "Monitoring the Measuring Systems" in section "Measuring Systems" Motor Encoders of Rexroth Rexroth housing motors have integrated position measuring systems: Housing Motors •...
Page 196 5-72 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 IndraDrive controllers can evaluate the following measuring systems as External Encoders at Machine Axes external encoders: • GDS/GDM encoders from Rexroth (rotary single-turn or multi-turn encoders with housing and shaft) •...
Page 197 5-73 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems • S-0-0115, Position feedback 2 type Pertinent Parameters • S-0-0277, Position feedback 1 type • S-0-0121, Input revolutions of load gear • S-0-0122, Output revolutions of load gear • S-0-0123, Feed constant •...
Page 198 5-74 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 • In the case of rotary kit motors, the motor encoder can be connected via a gear; Rexroth housing motors have a direct motor connection. • The load side of the drive can be rotary or linear (S-0-0076). S-0-0121 S-0-0122 rotary motor...
Page 199 5-75 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems P-0-0124 S-0-0117 P-0-0125 P-0-0075 ext. encoder (encoder 2) gear S-0-0121 S-0-0122 encoder 2 rotary S-0-0051 rotary motor load S-0-0053 load gear S-0-0116 P-0-0121 rotary P-0-0122 motor P-0-0074 scaling P-0-0124 S-0-0117 P-0-0125 S-0-0076 P-0-0075...
Page 200 5-76 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Notes on Commissioning The commissioning guidelines in the sections "Basics on Measuring Systems, Resolution" and "Monitoring the Measuring Systems" have to be observed, too! Basic Settings Set encoder type "linear" or "rotary": •...
Page 201: Scaling Of Physical Data
5-77 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Scaling of Physical Data Brief Description The controller via data maps the drive to an internal mathematical model. The status variables of the drive are determined on the basis of: •...
Page 202 5-78 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 For technical reasons, the value range of the position data the controller Absolute/Modulo Evaluation can display is limited. In the case of axes with limited travel range (e.g. linear axes), the current axis position within the controller-side value range can be unequivocally displayed (see "Measuring Systems: "Basics on Measuring Systems, Resolution"...
Page 203 5-79 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Depending on the scaling type setting, there are the following predefined Preferred Scalings (Predefined) preferred scalings: Preferred scaling linear rotary Physical data with unit "m" with unit "inch" unit "degree" position data 0.0001 mm 0.000001 inch...
Page 204 5-80 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Physical Scaling type Unit S-0-0076 S-0-0077 S-0-0078 Attribute data (scal. factor) (scal. exp.) number of decimal places position data linear ..xx00.0001 linear inch ..xx01.0001 rotary degree ..xx00.0010 Physical Scaling type Unit S-0-0044 S-0-0045...
Page 205 5-81 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems As an alternative to preferred scaling it is also possible to activate Parameter Scaling (Individually Defined) parameter scaling. For parameter scaling the least significant bit (LSB) of the respective operating data can be individually defined. ∗...
Page 206 5-82 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Note: It is only possible to select preferred scaling (predefined scaling)! Physical value Preferred scaling linear rotary percentage -based torque 0.01 Nm or 0.1 inlbf 0.1% force 1 N or 0.1 lbf 0.1% Fig.
Page 207 5-83 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems P-0-0124 P-0-0125 ext. encoder (encoder2) gear S-0-0121 S-0-0122 encoder2 rotary rotary motor load load gear P-0-0121 rotary P-0-0122 motor scaling P-0-0124 P-0-0125 S-0-0076 motor enc. linear ext. encoder gear (encoder1) gear S-0-0051 scaling...
Page 208 5-84 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 actual position value displayed (S-0-0051/S-0-0053) position data in modulo format S-0-0103 actual position value measured position data in absolute format S-0-0051: position feedback 1 value S-0-0053: position feedback 2 value S-0-0103: Modulo value Fig.
Page 209 5-85 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems Possible property damage caused by errors when controlling motors and moving parts! ⇒ Block the mechanical system with drive switched off by self-holding holding brake or self-locking gear! WARNING See also "Measuring Systems: Absolute Measuring Systems" in chapter "Motor, Mechanical Axis System, Measuring Systems"...
Page 210 5-86 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 • Only load reference is possible for linear modulo scaling. Depending on the use of an external encoder the following conditions have to be complied with: Scaling type of position data: Modulo scaling, linear position reference Reference: motor reference (not possible!)
Page 211 5-87 MPH-02, MPB-02, MPD-02 Motor, Mechanical Axis System, Measuring Systems To do this, set the respective bits in the following parameters: • S-0-0076, Position data scaling type • S-0-0044, Velocity data scaling type • S-0-0160, Acceleration data scaling type • S-0-0086, Torque/force data scaling type When selecting "modulo format"...
Page 212 5-88 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02 Diagnostic Messages of Scaling Setting If inadmissible scaling settings were made, they are detected when switching from parameter mode (communication phase 2) to operating mode (communication phase 4). The drive in this case does not reach the operating mode and, according to setting, displays the following command errors: •...
Page 213: Drive Control
MPH-02, MPB-02, MPD-02 Drive Control Drive Control Overview of Drive Control The IndraDrive firmware supports the following two basic principles of drive control: • open-loop axis control or open-loop operation (open-loop U/f control) → open-loop-controlled operation without encoder information • closed-loop axis control or closed-loop operation →...
Page 214: Closed Loop Axis Control (Closed-Loop Operation)
Drive Control MPH-02, MPB-02, MPD-02 Closed Loop Axis Control (Closed-Loop Operation) In the case of closed-loop axis control ("closed-loop operation"), closed- loop drive control with encoder is carried out with position or velocity feedback. The velocity and position control loops are closed by means of the encoder feedback.
Page 215: Voltage-Controlled Operation (Open-Loop U/F Control)
MPH-02, MPB-02, MPD-02 Drive Control Cycle Times and PWM Frequencies Depending on the firmware type (MPH, MPD or MPB) and the respective control section (CSH01.1, CDB01.1, CSB01.1), there are the following possible cycle times and PWM frequencies: TA_current P-0-0001 FWA type P-0-0556, bit 2 Performance 62.5 µs 16000...
Page 216 Drive Control MPH-02, MPB-02, MPD-02 Open-loop U/f motor control is characterized by the following features or core functions: • monitoring and limitation of the maximum stator frequency change Features that results from the command velocity change • stall protection loop (PI loop that can be optionally activated to prevent breakdown of the machine when the torque limits are attained) •...
Page 217 MPH-02, MPB-02, MPD-02 Drive Control • P-0-0576, Search mode: finding point slip factor • P-0-0577, Square characteristic: lowering factor • P-0-4036, Rated motor speed • P-0-4040, Rotor leakage inductance • P-0-4046, Effective peak current • E8040 Torque/force actual value limit active Pertinent Diagnostic Messages •...
Page 218 Drive Control MPH-02, MPB-02, MPD-02 stall protection loop P-0-0442 P-0-0570 P-0-0443 P-0-0571 bit 12 P-0-0045 P-0-0043 S-0-0040 P-0-0440 current commutation slip and PWM monitoring P-0-0048 compen- sation E8040 oscilla- current tion charac- limitation boost damping loop teristic DF000115v01_en.fh7 S-0-0040: velocity feedback value P-0-0043: torque-generating current, actual value P-0-0045:...
Page 219 MPH-02, MPB-02, MPD-02 Drive Control Note: With a value of "0.00%" in parameter P-0-0572 the slip compensation is switched off. In the "U/f characteristic" function the respective voltage for the effective U/f Characteristic output frequency is calculated from the motor model data. The form of the characteristic in the basic range of setting, i.e.
Page 220 Drive Control MPH-02, MPB-02, MPD-02 stall pro- slip monitoring P-0-0048 tection compen- current loop sation IxR boost commutation and PWM motor data P-0-0573 current oscilla- charac- limitation tion teristic loop damping DF000118v01_en.fh7 P-0-0048: effective velocity command value P-0-0573: IxR boost factor Fig.
Page 221 MPH-02, MPB-02, MPD-02 Drive Control stall pro- slip monitoring P-0-0048 tection compen- current loop sation current limitation commutation loop and PWM P-0-4040 S-0-0106 P-0-4046 S-0-0107 oscilla- charac- tion boost teristic damping E8041 DF000120v01_en.fh7 S-0-0106: current loop proportional gain 1 S-0-0107: current loop integral action time 1 P-0-0048: effective velocity command value...
Page 222: Field-Oriented Closed-Loop Current Control
6-10 Drive Control MPH-02, MPB-02, MPD-02 The activation of the stall protection loop is displayed in parameter Status of Stall Protection Loop P-0-0046, Status word of current controller (bit 12: stall protection loop): • bit 12 = 1 → stall protection loop active In addition, the diagnostic message E8040 Torque/force actual value limit active is generated.
Page 223 6-11 MPH-02, MPB-02, MPD-02 Drive Control The field-oriented closed-loop current control has the following general General Features features: • closed-loop control of the motor current according to the principle of field orientation, i.e. separate closed-loop control of the torque- generating current and the flux-generating current •...
Page 224 6-12 Drive Control MPH-02, MPB-02, MPD-02 Power monitoring: • S-0-0158, Power threshold Px • S-0-0337, Message ’P >= Px’ • S-0-0382, DC bus power Encoder monitoring: • P-0-0520, Error threshold for encoder monitoring Display parameters: • S-0-0380, DC bus voltage •...
Page 225 6-13 MPH-02, MPB-02, MPD-02 Drive Control Sv5025f 1.fh7 Fig. 6-12: Working ranges The base speed range is characterized by constant torque and fixed Base Speed Range (1) torque/force constant (P-0-0051). In the case of asynchronous motors, the programmed, effective magnetizing current flows in no-load operation. The motor voltage is less than the maximum controller output voltage.
Page 226 6-14 Drive Control MPH-02, MPB-02, MPD-02 P-0-4045 S-0-0100 S-0-0106 P-0-4046 S-0-0101 S-0-0107 q_cmd q_cmd q_act P-0-0048 velocity q -loop P-0-0038 P-0-0063 loop q_act S-0-0040 P-0-0043 P-0-4005 P-0-0533 S-0-0106 P-0-0534 S-0-0107 d_cmd d_cmd d_act P-0-0536 voltage current d -loop P-0-0039 P-0-0064 loop limitation d_act...
Page 227 6-15 MPH-02, MPB-02, MPD-02 Drive Control Note: Utilization of the reluctance effect allows increasing the available torque in the base speed range. Field-Oriented Closed-Loop Current Control of an Asynchronous Machine Field-oriented closed-loop control of the asynchronous machine differs from closed-loop control of the synchronous machine in the additional function blocks "flux feedforward"...
Page 228 6-16 Drive Control MPH-02, MPB-02, MPD-02 In addition, magnetization can be influenced via bit 2 of P-0-0045, Control word of current controller: • With bit 2 = 0 in P-0-0045 (default) magnetization is increased up to the nominal value according to the required torque; 100% are reached at nominal motor torque.
Page 229 6-17 MPH-02, MPB-02, MPD-02 Drive Control The flux loop works as a P-loop with command value feedforward. It Flux Loop compares the actual value from the rotor flux model to the command value from flux feedforward and voltage loop and by the corresponding input of the flux-generating current component I provides for rapid d-cmd...
Page 230 6-18 Drive Control MPH-02, MPB-02, MPD-02 Note: The voltage loop is only active when bit 0 has been set (field weakening operation active) in the current loop control word (P-0-0045) The command value of the voltage loop is defined by means of parameter P-0-0536, Maximum motor voltage.
Page 231: Commutation Setting
6-19 MPH-02, MPB-02, MPD-02 Drive Control • C0132 Invalid settings for controller cycle times Errors, Warnings and Monitoring Functions An error in the parameterization of the controller cycle times and pulse width modulation frequency was detected. • C0251 Error during synchronization to master communication The synchronization of drive control to the bus interface (SERCOS, PROFIBUS, Interbus …) failed during progression to the operating mode.
Page 232 6-20 Drive Control MPH-02, MPB-02, MPD-02 Note: If you use an incremental motor encoder, using the Hall sensor box SHL01.1 is absolutely recommended! This realizes highest safety with regard to correct motor function and compliance with the power data! For operationally reliable drives with synchronous third-party motors and Measuring Systems for Synchronous Third-Party Motors IndraDrive controllers there are, with regard to the selected measuring...
Page 233 6-21 MPH-02, MPB-02, MPD-02 Drive Control • saturation method (without constraint of motion) (with current → possible with all types of construction in combination with motor encoders that can be evaluated in absolute form and with relative motor encoders; but see below "Restrictions for Saturation Method") •...
Page 234 6-22 Drive Control MPH-02, MPB-02, MPD-02 Apart from the motor parameters (see parameter overview in "Basics on Pertinent Parameters the Motors to be Controlled" in chapter "Motor, Mechanical Axis System, Measuring Systems"), there are further parameters available for commutation setting: •...
Page 235 6-23 MPH-02, MPB-02, MPD-02 Drive Control Determining the Commutation Offset, Calculation Method when Using the Hall Sensor Box SHL01.1 The Hall sensor box SHL01.1 is an absolute measuring system within one pole pair distance of a Rexroth linear motor. Via the signals of the Hall sensors the controller detects the position of the motor windings compared to the magnetic field of the motor.
Page 236 6-24 Drive Control MPH-02, MPB-02, MPD-02 The input value in P-0-0523 required for determining the commutation Calculating P-0-0523, Commutation setting measured offset must be calculated from the measured relative position of primary value part with regard to secondary part (see fig. "Measuring the relative position between primary and secondary part", distance d, e, f or g, according to possibility of access), as well as a motor-dependent constant (see "Calculation formulas for P-0-0523"...
Page 237 6-25 MPH-02, MPB-02, MPD-02 Drive Control The motor constant k for setting the commutation offset depends on the Motor Constant k Commutation Setting arrangement of the primary and secondary part: arrangement A secondary part(s) primary part LSP power connection arrangement B power connection secondary part(s) primary part LSP...
Page 238 6-26 Drive Control MPH-02, MPB-02, MPD-02 Example 3, reference point ö (fig. "Measuring the relative position between primary and secondary part"): g = 180.0 mm , k = 38.0 mm , l = 540.0 mm P-0-0523 = 37.5 mm - g - l = 37.5 mm –...
Page 239 6-27 MPH-02, MPB-02, MPD-02 Drive Control • C1215 Command only possible in ’bb’ • C1216 Commutation determination not selected • C1222 Error when writing offset parameters Determining the Commutation Offset, Saturation Method Application-Related Aspect The saturation method for determining the commutation offset can be used for all types of synchronous motors.
Page 240 6-28 Drive Control MPH-02, MPB-02, MPD-02 2. Make presettings for automatic determination of motor-specific parameter values (P-0-0506, P-0-0507) of the test signal required for determining the commutation offset: • enter value "0" in P-0-0506, Amplitude for angle acquisition 3. Switch drive to operating mode ("AB"); start saturation method by P-0-0524, C1200 Commutation offset setting command 4.
Page 241 6-29 MPH-02, MPB-02, MPD-02 Drive Control 4. After the current was supplied and the commutation offset value has been successfully determined this value is contained in P-0-0521, Effective commutation offset. The drive now is operational. In addition, the motor-specific values for P-0-0506 and P-0-0507 were stored.
Page 242 6-30 Drive Control MPH-02, MPB-02, MPD-02 7. In P-0-0522, Commutation setting control word deactivate the initial commissioning mode via the respective bit! The value in P-0- 0508 resp. P-0-3008 is now write-protected. At the first drive enable after switching on or after the measuring system Recommissioning of Synchronous Motors with has been reinitialized, the drive automatically determines the commutation...
Page 243 6-31 MPH-02, MPB-02, MPD-02 Drive Control Determining the Commutation Offset, Sine-Wave Method Application-Related Aspect The sine-wave method for determining the commutation offset can be used for all types of synchronous motors. It should only be used if the saturation method cannot be used for determining the commutation offset.
Page 244 6-32 Drive Control MPH-02, MPB-02, MPD-02 The execution of the command is now completed, it can be reset. The drive now is operational. Note: It is recommended to execute the command C1200 several times over a pole pair or a distance between pole centers, to generate and enter the average value of P-0-0521.
Page 245 6-33 MPH-02, MPB-02, MPD-02 Drive Control Note: It is recommended to execute the command C1200 several times over a pole pair or a distance between pole centers, to generate and enter the average value of P-0-0521. Checking and optimizing P-0-0521 by force or torque measurement at the axis is recommended! See also below "Manually Optimizing the Commutation Offset Value"...
Page 246: Axis Control (Open-Loop Operation)
6-34 Drive Control MPH-02, MPB-02, MPD-02 Recommissioning of Synchronous Motors with Incremental Measuring System At the first drive enable after switching on or after the measuring system has been reinitialized, the drive automatically determines the commutation offset. The value is stored in P-0-0521 and refers to the current position of the axis.
Page 247 6-35 MPH-02, MPB-02, MPD-02 Drive Control drive controller cmd. value adjustment open-loop drive control (depending on oper. mode) open-loop oper. mode 2 motor control oper. mode 1 (U/f) master - without encoder - limitation torque/current DF000090v01_en.fh7 Fig. 6-23: Principle of drive control in open-loop operation Features The velocity control has the following features: •...
Page 248: Functional Description
6-36 Drive Control MPH-02, MPB-02, MPD-02 Pertinent Diagnostic Messages • F8079 Velocity limit S-0-0091 exceeded Functional Description When the drive is running in open-loop operation (open-loop U/f control), Fine Interpolator the preset velocity command value can be smoothed by a fine interpolator via 2 steps.
Page 249: Axis Control (Closed-Loop Operation)
6-37 MPH-02, MPB-02, MPD-02 Drive Control Axis Control (Closed-Loop Operation) Overview Control Loop Structure The drive controller has a cascade structure, i.e. the individual loops (position, velocity and current) are connected into one another. Depending on the operating mode there are different control loop structures with different points of input and paths of the command values.
Page 250 6-38 Drive Control MPH-02, MPB-02, MPD-02 sampling times (TA) see Fig. 6-26 Fig. 6-25: Overall structure of control loop Features of the Control Loops For simplifying parameterization of the control loops and increasing the capacity, some standardizations and structural modifications were made. Performance (Controller Cycle The internal controller cycle times (current, velocity and position) depend Times)
Page 251 6-39 MPH-02, MPB-02, MPD-02 Drive Control The following cycle times and PWM frequencies can be set: P-0-0556 P-0-0001 TA_position TA_velocity loop TA_current (bit 2) loop loop 500 µs 250 µs 62.5 µs 0 (Basic) 16 kHz 500 µs 250 µs 83.3 µs 12 kHz 500 µs...
Page 252 6-40 Drive Control MPH-02, MPB-02, MPD-02 In velocity control: • S-0-0037, Additive velocity command value • S-0-0081, Additive torque/force command value In current control: • S-0-0081, Additive torque/force command value master multiple-axis compensation or interpolation feedforward algorithm position additive additive additive controller position...
Page 253 6-41 MPH-02, MPB-02, MPD-02 Drive Control The "torque/force control" mode actually isn’t torque or force control but Torque/Force Control current control. Therefore, only the current control loop is closed in the drive. See also "Torque/Force Control" in chapter "Operating Modes" Notes on Commissioning for Control Loop Setting The control loop settings in a digital drive controller are very important for the features of the servo axis.
Page 254: Automatic Setting Of Axis Control
6-42 Drive Control MPH-02, MPB-02, MPD-02 Note: In order to start the "load defaults procedure" command the value "0" (default setting) must have been set in parameter P-0-4090, Index for C07 Load defaults procedure. During the load defaults procedure, the following control loop parameters are set to their default values optimized for the respective motor: •...
Page 255 6-43 MPH-02, MPB-02, MPD-02 Drive Control • possible settings in P-0-0165, Selection for autom. controller adjust for: • velocity loop • position loop • acceleration feedforward • determination of load inertia • determination of maximum acceleration • oscillation movement/unipolar movement •...
Page 256 6-44 Drive Control MPH-02, MPB-02, MPD-02 Since the axis must be moved in order to identify and set the control loop, Defining the Travel Range it is necessary to define an allowed travel range. There are basically two possibilities for defining the range within which the axis may move during the automatic control loop setting: •...
Page 257 6-45 MPH-02, MPB-02, MPD-02 Drive Control Before starting the command "automatic control loop setting", the default Loading the Default Controller Parameters controller parameters stored in the motor encoder data memory should be loaded or the data of the motor data sheet should be entered in the respective parameters.
Page 258 6-46 Drive Control MPH-02, MPB-02, MPD-02 step 1: C1801 Start requires drive enable command start C1802 Motor feedback data not valid without error? C1805 Travel range invalid C1806 Travel range exceeded step 2: move to center position determine inertia step 3: C1803 Inertia detection failed Inertia successfully determined?
Page 259 6-47 MPH-02, MPB-02, MPD-02 Drive Control See Parameter Description "P-0-0165, Selection for autom. controller adjust" Possible results of automatic control loop setting (with respective bit set in P-0-0165): • bit 1 → setting of velocity control loop (cf. S-0-0100, S-0-0101, P-0-0004, P-0-1120 ...) •...
Page 260 6-48 Drive Control MPH-02, MPB-02, MPD-02 Triggering the Motion by velocity profile Starting Command C1800 standstill window AH/START INBWG (moving) duration of autom. controller setting drive enable start of automat. controller setting C1800 diagnostic display start of automatic controller setting via command C1800 (P-0-0162) SV5008D2.fh7 Fig.
Page 261 6-49 MPH-02, MPB-02, MPD-02 Drive Control Interrupting the Command with interrupt velocity profile "Drive Halt" standstill window AH/START INBWG (moving) duration of autom. controller setting drive enable start of automat. controller setting diagnostic display C1800 start of automatic controller setting via command C1800 (P-0-0162) SV5009D2.fh7 Fig.
Page 262: Velocity Loop (With Respective Filters)
6-50 Drive Control MPH-02, MPB-02, MPD-02 • S-0-0260, Positioning Acceleration In this parameter you have to set the acceleration effective during the automatic control loop setting. Note: The command error C1803 can occur due to the above- mentioned points but also due to a too high degree of inertia. In this case the entire drive dimensioning has to be checked, if necessary.
Page 263 6-51 MPH-02, MPB-02, MPD-02 Drive Control Features The velocity loop is a PI loop that can be parameterized via S-0-0100, Velocity loop proportional gain and S-0-0101, Velocity loop integral action time. • The setting can be made by • executing the "Load defaults procedure" function once or •...
Page 264 6-52 Drive Control MPH-02, MPB-02, MPD-02 • P-0-2100, Velocity controller proportional gain, encoder memory • P-0-2101, Velocity controller integral-action time, encoder memory • P-0-3004, Speed controller smoothing time constant, encoder memory • E2059 Velocity command value limit active Pertinent Diagnostic Messages •...
Page 265 6-53 MPH-02, MPB-02, MPD-02 Drive Control When using a load-side encoder the velocity control loop includes the Velocity Mix Factor possibility to generate the actual velocity value used for control via a "mix factor" (see Parameter Description of P-0-1119) from the actual velocity values of the motor encoder and the load-side encoder (see also figure "Velocity loop").
Page 266 6-54 Drive Control MPH-02, MPB-02, MPD-02 The illustration below shows the position of the filters in the overall control loop: feedforward filters velocity loop torque/force motor and current P-0-0048 control limitation P-0-1125 P-0-1125 P-0-1120 P-0-1120 P-0-1121 P-0-1121 P-0-0004 P-0-0004 P-0-1122 P-0-1122 P-0-1123 P-0-1123...
Page 267 6-55 MPH-02, MPB-02, MPD-02 Drive Control Description of Filter Function For each filter it is possible to set center frequency and bandwidth. The attenuation of the rejection frequency is the strongest; the bandwidth determines the frequency range in which the attenuation is smaller than – 3 dB.
Page 268 6-56 Drive Control MPH-02, MPB-02, MPD-02 Note: When using the smoothing filters, take into account that each filter causes phase displacement in the control loop and therefore has a negative effect on the phase margin in the control loop (→ control loop stability). Therefore, the following applies: "As little filtering as possible, but as much filtering as necessary!"...
Page 269 6-57 MPH-02, MPB-02, MPD-02 Drive Control Determining the Critical To determine the "critical proportional gain" proceed as follows: Proportional Gain 1. Let the drive move with low velocity after switching drive enable on: • linear motor → 1000 … 2000 mm/min •...
Page 270 6-58 Drive Control MPH-02, MPB-02, MPD-02 The band-stop filters are parameterized via the following parameters: Parameterizing the Band-Stop Filters • P-0-1120, Velocity control loop filter: filter type • P-0-1121, Velocity control loop filter: limit frequency of low pass • P-0-1122, Velocity control loop filter: bandwidth of band-stop filter •...
Page 271 6-59 MPH-02, MPB-02, MPD-02 Drive Control If the step response shows less overshooting and shorter period of oscillation: 7. Check whether there is further improvement when increasing the value in parameter P-0-1122, Velocity control loop filter: bandwidth of band-stop filter or when changing the value in parameter P-0-1123, Vel.
Page 272: Position Loop (With Respective Feedforward Functions)
6-60 Drive Control MPH-02, MPB-02, MPD-02 Position Loop (with Respective Feedforward Functions) Brief Description The following section only describes the position loop with the respective feedforward possibilities (velocity and acceleration feedforward). Note: For the description of position command value processing see section "Velocity Control with Cyclic Command Value Input"...
Page 273 6-61 MPH-02, MPB-02, MPD-02 Drive Control For optimum parameterization of the acceleration feedforward the following values have to be entered in parameter S-0-0348: • linear motor → total mass (motor + load) in kg • rotary motor → total mass inertia (motor + load) in kgm Note: The input value of parameter S-0-0348 has to be adjusted on site, depending on the respective mechanical system!
Page 274 6-62 Drive Control MPH-02, MPB-02, MPD-02 2. Increase parameter S-0-0104, Position loop Kv-factor until instable behavior (continuous oscillation) occurs. 3. Reduce parameter S-0-0104, Position loop Kv-factor until continuous oscillation decreases automatically. The value thus determined is the so-called "critical position loop Kv- factor".
Page 275: Limitations
6-63 MPH-02, MPB-02, MPD-02 Drive Control value 1 and the actual position value 2, in cyclic operation (phase 4), are monitored for a maximum allowed actual position value difference indicated in parameter S-0-0391, Monitoring window feedback 2. If the absolute value of the difference is greater than the value of the monitoring window, the F2036 Excessive position feedback difference error message is generated.
Page 276: Current And Torque Limitation (Open-Loop)
6-64 Drive Control MPH-02, MPB-02, MPD-02 Current and Torque Limitation (Open-Loop) Brief Description In open-loop operation there is a current limitation and a torque/force limitation available in the drive. Both limitations take effect independently of each other. See section "Current and Torque Limitation (Closed-Loop)" Other possibilities of current and torque limitation in open-loop operation: •...
Page 277 6-65 MPH-02, MPB-02, MPD-02 Drive Control P-0-0049, P-0-0038, P-0-0444, Effective Torque-generating Actual value torque/force current, command peak torque limit command value value torque/force command value 1/KM from velocity loop P-0-0051 P-0-4046, Effective peak current P-0-0440, P-0-4045, Act. output temperature Max. poss. current value continuous model...
Page 278 6-66 Drive Control MPH-02, MPB-02, MPD-02 • P-0-0001, Switching frequency of the power output stage • P-0-0038, Torque-generating current, command value • P-0-0049, Effective torque/force command value • P-0-0051, Torque/force constant • P-0-0109, Torque/force peak limit • P-0-0141, Thermal drive load •...
Page 279 6-67 MPH-02, MPB-02, MPD-02 Drive Control The figure below illustrates the functional principle: P-0-0442/P-0-0443, P-0-0444, Actual value Actual value peak torque limit pos./neg. torque limit (stationary) S-0-0124, from Standstill acceleration window feedforward torque/force current command value from velocity limitation controller S-0-0082/S-0-0083 S-0-0092, S-0-0155,...
Page 280 6-68 Drive Control MPH-02, MPB-02, MPD-02 The maximum possible continuous current (P-0-4045) can be the 1.15- P-0-4045, Maximum possible continuous current fold value of the motor current at standstill. As a result, the motors theoretically can be continuously operated with the 1.15-fold current at standstill if the continuous current of the controller (power section) allows Note: Overload protection in peak load and short-time operation...
Page 281 6-69 MPH-02, MPB-02, MPD-02 Drive Control The basic features of dynamic current limitation: Features • The value taking effect is always the lowest value resulting from motor current or amplifier current limitation. • The maximum possible continuous current is displayed in P-0-4045, the effective peak current in P-0-4046.
Page 282 6-70 Drive Control MPH-02, MPB-02, MPD-02     − − ∗ − − 4037 0111     − − ∗ − − 4034         Last     ∗...
Page 283: Velocity Limitation
6-71 MPH-02, MPB-02, MPD-02 Drive Control Diagnostic and Status Messages For diagnostic purposes, the status of all partial limits is mapped to a status word for torque/force limitation and current limitation (see P-0-0445). As soon as a limit value is reached, the respective bit is set. This allows immediately recognizing the limiting value and identifying limits possibly parameterized incorrectly.
Page 284: Position Limitation/Travel Range Limit Switch
6-72 Drive Control MPH-02, MPB-02, MPD-02 Functional Description S-0-0037, E2059 Additive velocity command value S-0-0036, Velocity command value S-0-0091, Bipolar velocity limit value DF0071v1.fh7 Fig. 6-49: Functional principle of velocity limitation Notes on Commissioning The content of S-0-0091, Bipolar velocity limit value is the limit for the maximum allowed velocity and has to be adjusted to the mechanical properties.
Page 285 6-73 MPH-02, MPB-02, MPD-02 Drive Control The drive provides two possibilities of determining and monitoring a Realizing Travel Range Monitoring limitation of the working range (travel range): • monitoring position limit values (software limit switch) Monitoring the motor position for exceeding one of the two position limit values (positive/negative →...
Page 286 6-74 Drive Control MPH-02, MPB-02, MPD-02 • F6029 Positive travel limit exceeded • F6030 Negative travel limit exceeded • F6042 Both travel range limit switches activated • F6043 Positive travel range limit switch activated • F6044 Negative travel range limit switch activated Travel Range Limit Switches At the drive it is possible to connect and monitor 2 travel range limit switches (Limit+, Limit-) that can be connected to the digital inputs on the...
Page 287 6-75 MPH-02, MPB-02, MPD-02 Drive Control Position Limit Values (Software Limit Switch) Parameters for Position Limit To define the travel range via position limit values the following Values parameters are available: • S-0-0049, Positive position limit value • S-0-0050, Negative position limit value Note: The position limit values are polled every 2 ms so that the assigned error reaction is started at the earliest approx.
Page 288 6-76 Drive Control MPH-02, MPB-02, MPD-02 Note: Shutting down the axis using a velocity command value ramp is not possible! Shutdown is always carried out as quickly as possible with maximum allowed torque/force. Leaving the Inadmissible Travel After the allowed travel range has been exceeded, the command values Range are checked for validity and only such command values are accepted that lead back to the allowed travel range.
Page 289 6-77 MPH-02, MPB-02, MPD-02 Drive Control The monitor of the position limit values is activated by setting bit 4 in Activating the Position Limit Value Monitor parameter S-0-0055, Position polarities. Note: Before activating the position limit value monitor it is necessary to establish the drive’s position data reference, because position limit values are only useful and operational when the axis was homed.
Page 290 6-78 Drive Control MPH-02, MPB-02, MPD-02 Diagnostic and Status Messages In case the position limit value is exceeded the corresponding diagnostic Diagnostic Messages when message depends on the handling set in P-0-0090, Travel range limit Travel Range Limit Value parameter (bit 2): Exceeded Handling Display...
Page 291: Power Supply
6-79 MPH-02, MPB-02, MPD-02 Drive Control Power Supply Possibilities of Power Supply for IndraDrive Brief Description For IndraDrive devices we basically distinguish two lines: • modular line, consisting of supply unit and modular inverter (IndraDrive M) • non-modular line, so-called converter devices, including power supply and inverter (IndraDrive C) The power supply of the motors controlled via inverter is realized by a direct voltage power bus (DC bus).
Page 292 6-80 Drive Control MPH-02, MPB-02, MPD-02 • E8058 Drive system not ready for operation • F2026 Undervoltage in power section • F2086 Error supply module • F2087 Module group communication error • F2814 Undervoltage in mains • F2816 Softstart fault power supply unit •...
Page 293 6-81 MPH-02, MPB-02, MPD-02 Drive Control The figures below illustrates the principle of central supply: Central Supply supply unit inverter inverter inverter module bus module bus module bus +24 V control voltage power voltage (DC bus) mains connection DF000122v01_en.fh7 Fig. 6-54: Mains supply via supply unit converter converter...
Page 294 6-82 Drive Control MPH-02, MPB-02, MPD-02 The figure below illustrates the principle of group supply: Group Supply converter converter converter converter module bus module bus module bus +24 V control voltage power voltage (DC bus) mains connection DF000124v01_en.fh7 Fig. 6-56: Mains supply via all devices Communication in Drive Group Depending on the task of a drive system or of several drives cooperating...
Page 295: Functional Description
6-83 MPH-02, MPB-02, MPD-02 Drive Control Functional Description Information on the Module Bus The module bus establishes the exchange of signals between the Function of the Module Bus inverters or converters or from the inverters to the supply unit. Independent of the master communication, this allows the devices to exchange information on internal status variables of the drive system and error situations without delay.
Page 296 6-84 Drive Control MPH-02, MPB-02, MPD-02 Error messages of supply unit cleared via: • "Esc" button at display of supply unit - and - • module bus, triggered by command S-0-0099, C0500 Reset class 1 diagnostics for an inverter of the mould group Note: Inverters can reset error messages of the supply unit via the module bus as they do not have any master communication...
Page 297 6-85 MPH-02, MPB-02, MPD-02 Drive Control Note: The exact causes of this warning are shown on the display of the supply unit or converter by detailed diagnostic message texts. Diagnosis of Module Bus Status The control information currently transmitted by an inverter or converter to the module bus is displayed in P-0-0460, Module group, control word.
Page 298 6-86 Drive Control MPH-02, MPB-02, MPD-02 In the case of power output of the DC bus and correct mains voltage, the Minimum Voltage for Power Output minimum value of the DC bus voltage for signaling the readiness for power output ... •...
Page 299 6-87 MPH-02, MPB-02, MPD-02 Drive Control Due to hardware differences there are different requirements for mains Mains Failure Detection failure detection in supply units and converters: • The supply unit has an integrated mains contactor, the mains voltage must have been provided at the mains input terminals of the supply unit before power is switched on.
Page 300 6-88 Drive Control MPH-02, MPB-02, MPD-02 For each of the drives connected by the module bus it is possible to make Configuration of Power Supply basic settings for power supply in parameter P-0-0118, Power supply, configuration: • reaction to drive errors signaled via module bus •...
Page 301 6-89 MPH-02, MPB-02, MPD-02 Drive Control In parameter P-0-0810 it is possible to set a threshold value, for triggering the warning E2814 Undervoltage in mains, higher than the minimum value of the mains connection voltage range; this possibly enables the control master to react to the situation in the mains.
Page 302 6-90 Drive Control MPH-02, MPB-02, MPD-02 The reference values for the switch-on/switch-off threshold can be set to fixed standard values or variable values in parameter P-0-0860, Control word of power section. See also Parameter Description "P-0-0860, Control word of power section"...
Page 303: Notes On Commissioning
6-91 MPH-02, MPB-02, MPD-02 Drive Control Notes on Commissioning Settings, Configuration The required or desired axis-specific settings of the power supply of the Configuration of Power Supply device connected by the module bus have to be made in parameter P-0-0118, Power supply, configuration. The following settings or definitions can be made: •...
Page 304 6-92 Drive Control MPH-02, MPB-02, MPD-02 Property damage caused by inadmissibly high voltage on the motor terminals! ⇒ For third-party motors the maximum allowed terminal voltage has to be observed! CAUTION Diagnostic and Status Messages Displaying module bus status: Module Bus •...
Page 305 6-93 MPH-02, MPB-02, MPD-02 Drive Control Braking resistor diagnoses: Braking Resistor • P-0-0844, Braking resistor load • P-0-0833, Braking resistor threshold Braking resistor warnings: • E2820 Braking resistor overload prewarning • E2802 HW control of braking resistor • E2829 Not ready for power on Braking resistor error messages: •...
Page 306 6-94 Drive Control MPH-02, MPB-02, MPD-02 Notes DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 307: Operating Modes
MPH-02, MPB-02, MPD-02 Operating Modes Operating Modes Overview of Operating Modes Supported Operating Modes The drive firmware MPX-02 supports the following operating modes: • torque/force control • velocity control • position control with cyclic command value input • drive-internal interpolation •...
Page 308 Operating Modes MPH-02, MPB-02, MPD-02 Note: The control bits (8 and 9) contained in parameter P-0-0116 are also contained in the control words depending on the master communication (cf. S-0-0134, P-0-4077, P-0-4068 and P-0-4028) and can therefore be written via the control words. operating modes defined...
Page 309 MPH-02, MPB-02, MPD-02 Operating Modes With the following exceptional circumstances, the desired operating mode Special Cases is not carried out in spite of the operating mode having been correctly selected: • Drive error is present → The corresponding error reaction is carried out. •...
Page 310: Torque/Force Control
Operating Modes MPH-02, MPB-02, MPD-02 Note: When the positioning block mode is used for field buses in the freely configurable operating mode (P-0-4084 = 0xFFFE) or with SERCOS interface, the toggle mechanism is used in spite of the above rule. The explicit acknowledgment of the command value acceptance only Command Value takes place for the positioning modes (drive-controlled positioning,...
Page 311: Command Value Processing In Torque/Force Control
MPH-02, MPB-02, MPD-02 Operating Modes • torque/force control with regard to the sum of the command values Features preset in parameters S-0-0080, Torque/force command value and S-0-0081, Additive torque/force command value • The torque/force command value is generated internally by the velocity loop.
Page 312 Operating Modes MPH-02, MPB-02, MPD-02 The following command value limitations are distinguished: Command Value Limitation • torque/force limit • current limit On the user side it is only possible to directly set the torque/force limits. By setting the switching frequency (P-0-0001) the value of the current limit is indirectly influenced.
Page 313: Current Loop
MPH-02, MPB-02, MPD-02 Operating Modes Notes on Commissioning On the user side the following limitations are available: • maximum allowed torque/force (S-0-0092, P-0-0109) • motive and generating load with stationary velocity (S-0-0082, S-0-0083) See also separate documentation "Parameter Description for IndraDrive Drive Controllers"...
Page 314: Diagnostic Messages And Monitoring Functions
Operating Modes MPH-02, MPB-02, MPD-02 Diagnostic Messages and Monitoring Functions Diagnostic Status Message The activated "torque/force control" mode is displayed by the following diagnostic message: • A0100 Drive in TORQUE control Monitoring Functions Monitoring functions in torque/force control: • The value of parameter S-0-0036, Velocity command value is limited E2063 Velocity command value >...
Page 315 MPH-02, MPB-02, MPD-02 Operating Modes • smoothing of preset command value by means of average filter (jerk limitation by means of moving average filter) • fine interpolation of the velocity command values; transmission of these command values in the position loop clock fine interpolator is switched on by default (P-0-0556, bit 0 1) •...
Page 316: Command Value Adjustment In Velocity Control
7-10 Operating Modes MPH-02, MPB-02, MPD-02 Command Value Adjustment in Velocity Control The figure below illustrates command value processing in the "velocity control" mode as a block diagram. Operating mode: velocity control P-0-1200 bit 5: run-up stop P-0-1201 P-0-1202 P-0-1203 P-0-1222 velocity P-0-0556...
Page 317 7-11 MPH-02, MPB-02, MPD-02 Operating Modes Masking the Command Value The masking windows (max. 4) that can be defined via P-0-1207, Lower limit of velocity masking window and P-0-1208, Upper limit of velocity masking window are used to suppress resonance phenomena of a machine or in an installation.
Page 318 7-12 Operating Modes MPH-02, MPB-02, MPD-02 Ramp Generator The increase (acceleration) and deceleration of the velocity command value can be limited in steps via 2 ramps. • Acceleration process: In the first step, the increase of the command value is limited via P-0-1201, Ramp 1 pitch (acceleration ramp 1).
Page 319: Velocity Control Loop
7-13 MPH-02, MPB-02, MPD-02 Operating Modes Velocity Control Loop Velocity Loop The velocity loop is a typical PI loop and can be set via the following parameters: • S-0-0100, Velocity loop proportional gain • S-0-0101, Velocity loop integral action time See also "Axis Control: Control Loop Structure"...
Page 320: Notes On Commissioning
7-14 Operating Modes MPH-02, MPB-02, MPD-02 Notes on Commissioning Inputting or Selecting the Velocity Command Value Apart from the cyclic velocity command value (S-0-0036), the drive can be moved with fixed constant velocity command values stored in the drive. Selecting preset fixed command values can be effectively used for Example of Application applications with analog or parallel interface with which the drive is moved with constant velocity steps (e.g.
Page 321: Diagnostic Messages And Monitoring Functions
7-15 MPH-02, MPB-02, MPD-02 Operating Modes Masking the Velocity Command Value For each velocity window (cf. P-0-1207, P-0-1208) it is possible to define an individual acceleration factor (cf. P-0-1209) that takes effect, however, as well for acceleration as for deceleration. When parameterizing the velocity windows the following aspects have to be taken into account: •...
Page 322: Position Control With Cyclic Command Value Input
7-16 Operating Modes MPH-02, MPB-02, MPD-02 • Bit 4 = 1 → command value within masking window The command value is within a masking window defined by the values of P-0-1207 and P-0-1208 and prevents the drive from moving exactly to this command value.
Page 323 7-17 MPH-02, MPB-02, MPD-02 Operating Modes • position control with regard to the command value preset in parameter Features S-0-0047, Position command value • timebase for cyclic command value input defined by S-0-0001, NC cycle time (TNcyc) • monitoring the position command value difference for exceeding parameter S-0-0091, Bipolar velocity limit value •...
Page 324: Command Value Processing In Position Control
7-18 Operating Modes MPH-02, MPB-02, MPD-02 Command Value Processing in Position Control Note: The command value cyclically transmitted by the control unit is displayed in parameter P-0-0047, Position command value control. The internal position command value at the position controller is displayed in parameter P-0-0434, Position command value controller.
Page 325: Position Controller
7-19 MPH-02, MPB-02, MPD-02 Operating Modes Operating mode: cyclic position control S-0-0138 F2039 position loop cubic approximation P-0-0187 P-0-0099 P-0-0041 bit15 linear fine interpol. P-0-0556 S-0-0047 P-0-0047 cubic fine interpol. P-0-0042 S-0-0091 F2037 P-0-0434 P-0-0011 P-0-0010 DF0008v1.fh7 Fig. 7-10: Command value processing in position control See also below "Position Controller"...
Page 326: Diagnostic Messages And Monitoring Functions
7-20 Operating Modes MPH-02, MPB-02, MPD-02 (additive velocity command value) is set via P-0-0040, Velocity feedforward evaluation. This allows setting the lag error to a desired percentage value at constant velocity. Note: In lagless operation and with P-0-0040 = 100%, there is a minimum lag error of "0"...
Page 327: Drive-Internal Interpolation
7-21 MPH-02, MPB-02, MPD-02 Operating Modes The velocity resulting from the difference of these two values generated the error message. S-0-0047, Position command value S-0-0091, Bipolar velocity limit value resulting velocity = position cmd value difference generation of error message "F2037 Excessive position cmd difference"...
Page 328 7-22 Operating Modes MPH-02, MPB-02, MPD-02 There are different forms of the "drive-internal interpolation" mode which result in the corresponding diagnostic messages when the operating mode was activated (see "Pertinent Diagnostic Messages"). command value target position loop velocity loop current loop adjustment for inter- position polation...
Page 329: Command Value Processing With Drive-Internal Interpolation
7-23 MPH-02, MPB-02, MPD-02 Operating Modes • S-0-0393, Command value mode • S-0-0417, Velocity threshold for positioning in modulo format • S-0-0418, Target position window in modulo format • S-0-0430, Effective target position • S-0-0437, Positioning status word • P-0-0434, Position command value controller Pertinent Diagnostic Messages •...
Page 330: Position Loop With Drive-Internal Interpolation
7-24 Operating Modes MPH-02, MPB-02, MPD-02 Position Loop with Drive-Internal Interpolation The position command value generated at the output of the command value generator is displayed in parameter P-0-0434, Position command value controller and can be output at the analog output. In this operating mode, the same information as relevant in the "position control with cyclic command value input"...
Page 331 7-25 MPH-02, MPB-02, MPD-02 Operating Modes Note: In this case, T is the cycle time of the position loop or position the positioning generator. Therefore, the cycle time to be used is different according to the control performance (advanced: 250 µs, basic: 500 µs). −...
Page 332: Diagnostic Messages And Monitoring Functions
7-26 Operating Modes MPH-02, MPB-02, MPD-02 Diagnostic Messages and Monitoring Functions Diagnostic Status Messages The activated "drive-internal interpolation" mode is displayed by one of the following diagnostic messages: • A0106 Drive controlled interpolation, encoder 1 • A0107 Drive controlled interpolation, encoder 2 •...
Page 333 7-27 MPH-02, MPB-02, MPD-02 Operating Modes The figures below illustrate the operating principle of the status messages: positioning velocity starting target position position DK000055v01_en.fh7 Fig. 7-14: Travel profile to explain how the interpolation status messages work In this example, the drive is at the starting position when the new target position is preset.
Page 334: Drive-Controlled Positioning
7-28 Operating Modes MPH-02, MPB-02, MPD-02 Drive-Controlled Positioning Base package of all variants in closed-loop characteristic Brief Description The operating modes "drive-internal interpolation" and "drive-controlled positioning" allow time-optimized positioning of a single axis. The "drive- internal interpolation" mode is the basis for the more comprehensive functionality of the "drive-controlled positioning"...
Page 335 7-29 MPH-02, MPB-02, MPD-02 Operating Modes • acceleration and deceleration ramps can be set separately (S-0-0260, Positioning acceleration or S-0-0359, Positioning deceleration) • considering position limit values when accepting target position, positioning velocity and positioning acceleration • infinite travel positive or negative •...
Page 336: Command Value Processing With Drive-Controlled Positioning
7-30 Operating Modes MPH-02, MPB-02, MPD-02 Command Value Processing with Drive-Controlled Positioning Overview S-0-0108, Feedrate override oper. mode: interpolation S-0-0258, Target position S-0-0259, Positioning Velocity S-0-0260, Positioning Acceleration S-0-0359, Positioning Deceleration S-0-0193, Positioning Jerk S-0-0430, Effective target position interpolator S-0-0393, Command value mode operating mode: positioning S-0-0417, Velocity threshold for positioning in modulo format S-0-0282, Positioning command value...
Page 337 7-31 MPH-02, MPB-02, MPD-02 Operating Modes Position Target Interpreter Accepting and Acknowledging The acceptance and internal processing of S-0-0282, Positioning the Command Value command value to a value entered in parameter S-0-0430, Effective target position is controlled via S-0-0346, Positioning control word. At each edge of bit 0 (toggle bit) of S-0-0346 the content of S-0-0282, Positioning command value, depending on bit 3 of S-0-0346, is •...
Page 338 7-32 Operating Modes MPH-02, MPB-02, MPD-02 Time t (see illustration above) defines the time that passes between accept status change of the acceptance bit by the control unit and the reception of acknowledgment in the master. The time is made up of the effective transmission time of the command and actual values and thus depends on the configuration of the interface to the master (e.g.
Page 339 7-33 MPH-02, MPB-02, MPD-02 Operating Modes S-0-0346, Positioning control word S-0-0282, Positioning (k+2) command value drive-internal position cmd value (k+3) (k+1) F2050 Overflow of target position preset memory positioning command acknowledge Fig. 7-21: Acknowledgment with error "Overflow of target position preset memory"...
Page 340 7-34 Operating Modes MPH-02, MPB-02, MPD-02 Via bit 5 of S-0-0346 it is possible to determine the time of the reaction to Reaction to New Target Position a new target position preset: Preset • bit 5= 0: The drive travels to the last preset target before positioning at the new target.
Page 341: Position Loop With Drive-Controlled Positioning
7-35 MPH-02, MPB-02, MPD-02 Operating Modes Position Loop with Drive-Controlled Positioning The position command value generated at the output of the command value generator is displayed in parameter P-0-0434, Position command value controller and can be output at the analog output. In this operating mode, the same information as relevant in the "position control with cyclic command value input"...
Page 342 7-36 Operating Modes MPH-02, MPB-02, MPD-02 Note: In this case, T is the cycle time of the position loop or position the positioning generator. Therefore, the cycle time to be used is different according to the control performance (advanced: 250 µs, basic: 500 µs). −...
Page 343 7-37 MPH-02, MPB-02, MPD-02 Operating Modes direction greater than the programmed target position window! The following applies to the braking procedure: starting position + braking distance – target position > S-0-0418 → positioning in negative direction not allowed; i.e. drive must move to target in positive direction •...
Page 344: Diagnostic Messages And Monitoring Functions
7-38 Operating Modes MPH-02, MPB-02, MPD-02 • Case 9: current velocity (positive) < S-0-0417; braking distance smaller than the distance between starting position and next target position → drive moves to next target position The following applies to the braking procedure: starting position + braking distance –...
Page 345 7-39 MPH-02, MPB-02, MPD-02 Operating Modes Monitoring Functions Operating mode-specific monitoring functions are: • If position limit value monitoring is activated (bit 4 of S-0-0055, E2053 Target position out of travel range Position polarities is set) and the measurement system used for the operating mode has been homed, the parameter S-0-0258, Target position is monitored for complying with the position limit values (S-0-0049 or S-0-0050).
Page 346: Positioning Block Mode
7-40 Operating Modes MPH-02, MPB-02, MPD-02 The result is the following time diagram: actual velocity value standstill window positioning target position window pos. cmd val. act. pos. val. positioning starting position window lag error (drawing positioning magnified) window S-0-0013, bit 12 target position attained S-0-0437, bit 1...
Page 347 7-41 MPH-02, MPB-02, MPD-02 Operating Modes • parameterization of up to 64 positioning blocks; each with target Features position/travel distance, velocity, acceleration, deceleration and jerk • defined block acceptance by toggling bit 0 in S-0-0346 with reaction time t R_Strobe position Note: With field bus drives, the I/O mode and control via the parallel interface are exceptions.
Page 348 7-42 Operating Modes MPH-02, MPB-02, MPD-02 • P-0-4006, Process block target position • P-0-4007, Positioning block velocity • P-0-4008, Positioning block acceleration • P-0-4009, Positioning block jerk • P-0-4019, Positioning block mode • P-0-4026, Positioning block selection • P-0-4051, Positioning block acknowledgment •...
Page 349: Command Value Processing In Positioning Block Mode
7-43 MPH-02, MPB-02, MPD-02 Operating Modes Command Value Processing in Positioning Block Mode Operating mode: positioning block mode positioning block 64 positioning block 64 mode positioning block 1 drive-controlled positioning target position mode target position velocity target position S-0-0259/S-0-0108 acceleration S-0-0193 velocity deceleration...
Page 350 7-44 Operating Modes MPH-02, MPB-02, MPD-02 Effective Acceleration and The maximum deceleration is specified by parameter P-0-4063, Deceleration Positioning block deceleration. Note: When P-0-4063 was parameterized with value "0", the warning E2048 Interpolation acceleration = 0 is generated. Property damage! If the acceleration or deceleration values are equal to zero, the drive can no longer brake.
Page 351 7-45 MPH-02, MPB-02, MPD-02 Operating Modes Positioning Block Control Word With parameter P-0-4060, Positioning block control word (bit 1) the positioning velocity can be limited to the value defined in parameter S-0- 0259, Positioning Velocity. Position Feedback When a positioning block is completed, bit 4 (end position reached) is set in parameter P-0-4061, Positioning block status word.
Page 352 7-46 Operating Modes MPH-02, MPB-02, MPD-02 Note: If the velocity threshold for positioning in modulo format was parameterized with very low values that are within the noise level of the actual velocity value, this can cause unpredictable behavior. See also Parameter Description "S-0-0417, Velocity threshold for positioning in modulo format"...
Page 353 7-47 MPH-02, MPB-02, MPD-02 Operating Modes • Parallel interface • Bit 0 of P-0-4060 has to be configured on a digital input (see also "Digital Inputs/Outputs" in chapter "Extended Drive Functions"). See also "Command Value Acceptance" in section "Overview of Operating Modes"...
Page 354 7-48 Operating Modes MPH-02, MPB-02, MPD-02 Example: Absolute positioning with target position = 700 (current position = 200). S-0-0124, Standstill window velocity profile x = 200 x = 700 P-0-4026, Positioning block positioning block 01 selection P-0-4051, Positioning block positioning block 01 acknowledgment Drive HALT (AH): S-0-0134,...
Page 355 7-49 MPH-02, MPB-02, MPD-02 Operating Modes Relative Positioning without Residual Path Storage • P-0-4019, Positioning block mode = 2h Parameter Setting In the case of relative positioning blocks without residual path storage, the Reference position target position contained in the positioning block is added to the current position.
Page 356 7-50 Operating Modes MPH-02, MPB-02, MPD-02 Example: Relative positioning without residual path storage with travel distance = 700 (current position = 200; target position = 900). S-0-0124, Standstill window velocity profile x = 200 x = 900 P-0-4026, Positioning block positioning block 01 selection P-0-4051,...
Page 357 7-51 MPH-02, MPB-02, MPD-02 Operating Modes Example: Relative positioning without residual path storage with target position = 700 (current position = 200); interrupting and restarting a relative positioning block without residual path storage S-0-0124, Standstill velocity window profile x = 200 x = 350 x = 1050 P-0-4026,...
Page 358 7-52 Operating Modes MPH-02, MPB-02, MPD-02 Relative Positioning with Residual Path Storage • P-0-4019, Positioning block mode = 102h Parameter Setting If positioning blocks are interrupted, a distance still to be traveled up to Residual Path the target position remains. This remaining distance is the residual path. In a relative positioning block with residual path storage, the target position is a relative distance that relates to the target position at which the message "end position reached"...
Page 359 7-53 MPH-02, MPB-02, MPD-02 Operating Modes Example: • relative positioning with residual path storage with travel distance = 700 (plus residual path = 20 of positioning block n-1) • without interruption • current position = 180; new target position = 900 The last valid target position is used as reference position Reference Position (in the example position = 200 of positioning block n-1).
Page 360 7-54 Operating Modes MPH-02, MPB-02, MPD-02 Relative Positioning Block with Residual Path Storage after Activating Drive Enable Example: Interrupted relative positioning block with residual path storage after activation of drive enable with travel distance = 400 (current position = 200; target position = 800). The position command value at the last "end position reached"...
Page 361 7-55 MPH-02, MPB-02, MPD-02 Operating Modes S-0-0124, Standstill window velocity profile x = 200 x =800 P-0-4026, Positioning block positioning block 02 selection P-0-4051, Positioning block acknowledgment Drive HALT (AH): S-0-0134, Master control word (bit 13) end position reached: P-0-4061, Positioning block status word (bit 4) in standstill:...
Page 362 7-56 Operating Modes MPH-02, MPB-02, MPD-02 Relative Positioning Block with Residual Path Storage after Interrupting with Jog mode Example Interrupted relative positioning block with residual path storage after jog mode with target position = 600 without overrunning the target position while jogging Positioning is always continued at the current actual position value.
Page 363 7-57 MPH-02, MPB-02, MPD-02 Operating Modes S-0-0124, Standstill window velocity profile x = 100 x = 900 x = 700 P-0-4026, Positioning block positioning block 02 selection P-0-4051, Positioning block positioning block 02 acknowledgment Drive HALT (AH): S-0-0134, Master control word (bit 13) end position reached: P-0-4061,...
Page 364 7-58 Operating Modes MPH-02, MPB-02, MPD-02 Relative Positioning Block with Residual Path Storage After Switching Drive Controller Control Voltage Off and On If an absolute encoder is used the incremental dimension reference can be retained after switching control voltage off and on. The previously calculated target position is stored at power shutdown.
Page 365 7-59 MPH-02, MPB-02, MPD-02 Operating Modes S-0-0124, Standstill window velocity profile P-0-4026, Positioning block selection P-0-4051, Positioning block positioning block 01 acknowledgment Drive HALT (AH): S-0-0134, Master control word (bit 13) end position reached: P-0-4061, Positioning block status word (bit 4) in standstill: S-0-0013, Class 3...
Page 366: Sequential Block Processing
7-60 Operating Modes MPH-02, MPB-02, MPD-02 Sequential Block Processing Description of Basic Function Note: First of all the same basic rules as to single block processing (see that section) apply to sequential block processing. In addition to mere positioning block functions with defined positioning blocks and block acceptance, there also is a defined block transition to be parameterized.
Page 367 7-61 MPH-02, MPB-02, MPD-02 Operating Modes next positioning block n+1, the block n representing the positioning block currently in process. Note: If the target position is not in the selected travel direction, the drive moves in the direction of the target position. Thus the drive always reaches the switching position.
Page 368 7-62 Operating Modes MPH-02, MPB-02, MPD-02 b) Block transition with new positioning velocity (mode 2) • P-0-4019, Positioning block mode = 21h Parameter Setting → absolute block with sequential block • P-0-4019, Positioning block mode = 22h → relative block with sequential block •...
Page 369 7-63 MPH-02, MPB-02, MPD-02 Operating Modes velocity profile target target position position block 1 block 2 P-0-4026, Positioning block positioning block 01 selection P-0-4051, Positioning block positioning block 02 acknowledgment Drive HALT (AH): S-0-0134, Master control word (bit 13) end position reached: P-0-4061, Positioning block status word (bit 4)
Page 370 7-64 Operating Modes MPH-02, MPB-02, MPD-02 In this case, the drive is decelerated to speed "0" at the target position and then accelerated to the new positioning velocity. Note: Advance takes place when the internal command value generator has reached the target position. With very low jerk values the resulting dwell time is relatively long.
Page 371 7-65 MPH-02, MPB-02, MPD-02 Operating Modes Note: This mode should be used if there is a change in direction in the case of two consecutive sequential blocks within one sequential block chain. Otherwise, the position at which the direction is changed will be inevitably overrun. Switch-Signal-Dependent Block Advance For switch-signal-dependent block advance there are the following positioning modes:...
Page 372 7-66 Operating Modes MPH-02, MPB-02, MPD-02 S-0-0124, Standstill window velocity profile target position target position target position block 1 block 2 block 3 P-0-4026, Positioning block positioning block 01 selection P-0-4051, Positioning block positioning block 01 acknowledgment cam 2: P-0-4057, Pos.
Page 373 7-67 MPH-02, MPB-02, MPD-02 Operating Modes If the start block of a switch-signal-dependent sequential block is an Failure of Switch Signal for Block Advance absolute or relative positioning block, the drive positions at target position if the switch signal for block advance is not received. The drive thus only generates the message "end position reached"...
Page 374 7-68 Operating Modes MPH-02, MPB-02, MPD-02 Note: All conditions for advance are constantly queried and evaluated to be able to switch to the correct sequential block even after the sequential block chain was interrupted. Only the first condition for advance occurring during an interruption is recognized, however.
Page 375 7-69 MPH-02, MPB-02, MPD-02 Operating Modes S-0-0124, Standstill window velocity profile x = 100 restart x = 500 x = 700 P-0-4026, Positioning block positioning block 01 selection P-0-4051, Positioning block positioning block 01 acknowledgment Drive HALT (AH): S-0-0134, Master control word (bit 13) end position reached: P-0-4061,...
Page 376 7-70 Operating Modes MPH-02, MPB-02, MPD-02 When changing the operating mode during an interruption, the sequential Changing to Different Operating Mode block chain interrupted before is completed at the restart if there hadn’t been any new block selected. Given a sequential block with advance due to target position, only the overrun of the target position of the current positioning block will be detected.
Page 377: Notes On Commissioning/Parameterization
7-71 MPH-02, MPB-02, MPD-02 Operating Modes Notes on Commissioning/Parameterization Limit Values of the Drive When parameterizing sequential blocks, the maximum values of the drive must be taken into account. These values are: • maximum acceleration capability • maximum speed (independent of mains voltage) If blocks are parameterized for which the drive would have to generate values greater than the maximum values, this will cause an excessive lag error.
Page 378 7-72 Operating Modes MPH-02, MPB-02, MPD-02 Block n with intermediate stop follows block n-1 with mode 1 (block Explanation of the Figure Below transition with old positioning velocity), because a change in direction occurs when changing from block n to block n+1. At change in direction there is a change of sign of the velocity at target position n.
Page 379: Diagnostic And Status Messages, Acknowledgment
7-73 MPH-02, MPB-02, MPD-02 Operating Modes Note: In the case of a sequential block with directional change, it is necessary to take values according to the above formula for the minimum acceleration value into account in order to avoid overshooting of position! Diagnostic and Status Messages, Acknowledgment Positioning Block Acknowledgment The positioning block acknowledgment is used for feedback of the...
Page 380 7-74 Operating Modes MPH-02, MPB-02, MPD-02 S-0-0124, Standstill window velocity profile P-0-4026, Positioning block selection positioning block 01 P-0-4051, Positioning block positioning block 01 acknowledgment Drive HALT (AH): S-0-0134, Master control word (bit 13) end position reached: P-0-4061, Positioning block status word (bit 4) in standstill: S-0-0013,...
Page 381 7-75 MPH-02, MPB-02, MPD-02 Operating Modes With Absolute Value Encoder If an absolute encoder is used, it is possible to decide, after the control voltage is switched off and on, whether the drive still is at the target position of the last accepted positioning block (end position reached). The "end position reached"...
Page 382: Synchronization Modes
7-76 Operating Modes MPH-02, MPB-02, MPD-02 Note: For sequential block chains this is the last active block of the sequential block chain. For single blocks (no sequential block processing) the contents of parameters P-0-4052 and P-0-4053 are always equal! • P-0-4057, Positioning block, input linked blocks →...
Page 383 7-77 MPH-02, MPB-02, MPD-02 Operating Modes The synchronization modes basically consist of identical or similar basic functions: • master axis evaluation for virtual and real master axis • electronic gear function with fine adjust • command value processing specific to operating mode •...
Page 384 7-78 Operating Modes MPH-02, MPB-02, MPD-02 • P-0-0073, Cam shaft distance 2 • P-0-0092, Cam shaft profile 2 • P-0-0093, Cam shaft distance • P-0-0094, Cam shaft switch angle • P-0-0144, Cam shaft distance switch angle • P-0-0155, Synchronization mode •...
Page 385 7-79 MPH-02, MPB-02, MPD-02 Operating Modes • In the case of a virtual master axis, command values are cyclically preset by the master via the master communication. See also "Measuring Encoder" in chapter "Extended Drive Functions" Note: The master axis position can only be processed in a binary format (1 master axis revolution = 2 increments).
Page 386 7-80 Operating Modes MPH-02, MPB-02, MPD-02 Fine Interpolation and Master For both master axes it is possible to change, via parameter P-0-0054, Axis Range Additive master axis position, the master axis position by an additive component (= offset) in the NC cycle clock: •...
Page 387 7-81 MPH-02, MPB-02, MPD-02 Operating Modes • polarity reversal of master axis position Via parameter P-0-0108, Master drive polarity it is possible to invert the polarity of the master axis position or master axis velocity. Note: For the operating modes "phase synchronization" and "electronic cam shaft", the conversion of the master axis position to a position of the slave axis depends on the scaling.
Page 388 7-82 Operating Modes MPH-02, MPB-02, MPD-02 This actual position value is set by the command "set absolute Establishing the Position Data measuring" or by "drive-controlled homing procedure" for the actual Reference position value that has been selected in the synchronization mode that was set.
Page 389 7-83 MPH-02, MPB-02, MPD-02 Operating Modes • operating mode: cam shaft with P-0-0755 ≠ 0 − − − − 0157 0103 − − actual value cycle 0750 − − − − 0156 0755 Fig. 7-52: Actual value cycle with rotary modulo scaling and P-0-0155, bit 4 = 1 •...
Page 390 7-84 Operating Modes MPH-02, MPB-02, MPD-02 The range for the command value cycle at the slave axis is defined by the master axis cycle and the electronic gear: • operating mode: phase synchronization and cam shaft with P-0-0755 = 0 −...
Page 391 7-85 MPH-02, MPB-02, MPD-02 Operating Modes The actual position value in the division of the command value cycle is derived from P-0-0753, Position actual value in actual value cycle. For modulo division the number of divisions per actual value cycle is used. The number is calculated with the following formula: actual value...
Page 392 7-86 Operating Modes MPH-02, MPB-02, MPD-02 Actual position value of measuring encoder with P-0-0054, Additive master axis position and S-0-0048, Position command value additional must be within the max. travel range after conversion to the internal format. Note: Incorrect parameterization can cause unwanted jumps in position.
Page 393 7-87 MPH-02, MPB-02, MPD-02 Operating Modes Dynamic Synchronization with Synchronous Position Control Modes Drive-controlled dynamic synchronization in the synchronous position control modes is carried out when • a synchronous position control mode is activated - and - • the value in parameter S-0-0048, Position command value additional is changed.
Page 394 7-88 Operating Modes MPH-02, MPB-02, MPD-02 position in parameter P-0-0034, Position command additional actual value • generation of status message "synchronization completed" (P-0-0152; bit 0) • generation status message "synchronization mode synchronization" (P-0-0089, Status word for synchronous operating modes; bit 8) Synchronization Procedure for Synchronous Position Control Modes The dynamic synchronization described below is a part of the...
Page 395 7-89 MPH-02, MPB-02, MPD-02 Operating Modes Relative/Absolute Synchronization In the synchronous position control modes it is possible to select either relative or absolute synchronization: • relative synchronization (P-0-0155, bit 1 = 1) → There is no fixed position reference between master axis and slave axis •...
Page 396 7-90 Operating Modes MPH-02, MPB-02, MPD-02 The figure below illustrates the relative synchronization to a virtual master Relative Synchronization in axis, the master axis having a velocity ≠ 0 when the operating mode is Running Operation activated. master axis velocity operating mode activated synchronization...
Page 397 7-91 MPH-02, MPB-02, MPD-02 Operating Modes The figure below illustrates the absolute synchronization to a virtual Absolute Synchronization Out of Standstill master axis, the master axis being in standstill when the operating mode is activated. master axis velocity master axis position operating mode activated...
Page 398 7-92 Operating Modes MPH-02, MPB-02, MPD-02 The figure below illustrates the absolute synchronization to a virtual Absolute Synchronization in master axis, the master axis having a velocity ≠ 0 when the operating Running Operation mode is activated. master axis velocity operating mode activated synchronization...
Page 399 7-93 MPH-02, MPB-02, MPD-02 Operating Modes Standard/Register Controller Synchronization In the synchronous position control modes it is possible to determine, in Synchronization Mode parameter P-0-0155, Synchronization mode, the synchronization mode for the reaction to further changes in parameter S-0-0048, Position command value additional after the absolute synchronization has been reached for the first time.
Page 400 7-94 Operating Modes MPH-02, MPB-02, MPD-02 Possible counter measures: • increasing the filter time constant • reducing the changes in the additive position command value • increasing the limit values for velocity and acceleration In the "register controller" synchronization mode all further changes of the "Register Controller"...
Page 401 7-95 MPH-02, MPB-02, MPD-02 Operating Modes Diagnostic and Status Messages Apart from some status and display parameters that are valid for all operating modes, parameters P-0-0089, Status word synchronous operating modes and P-0-0152, Synchronization completed are available for diagnosing the synchronization modes. The feedback signaling that the slave axis has been synchronized takes P-0-0089, Bit 8 (Synchronization place in bit 8 of parameter P-0-0089, Status word for synchronous...
Page 402: Velocity Synchronization With Real/Virtual Master Axis
7-96 Operating Modes MPH-02, MPB-02, MPD-02 Velocity Synchronization with Real/Virtual Master Axis Expansion package synchronization (order code SNC) in all characteristics Brief Description In the case of the operating mode "velocity synchronization with real/virtual master axis" the drive follows a preset master axis velocity in a velocity-synchronous way.
Page 403 7-97 MPH-02, MPB-02, MPD-02 Operating Modes Fig. 7-74: Block diagram: velocity synchronization with real/virtual master axis Velocity synchronization is used, for example, for simple transport rolls of Application "Velocity printing machines. The drive runs with a velocity synchronous to the Synchronization"...
Page 404 7-98 Operating Modes MPH-02, MPB-02, MPD-02 • P-0-0053, Master axis position • P-0-0054, Additive master axis position • P-0-0083, Gear ratio fine adjust • P-0-0089, Status word for synchronous operating modes • P-0-0108, Master drive polarity • P-0-0142, Synchronization acceleration •...
Page 405 7-99 MPH-02, MPB-02, MPD-02 Operating Modes Note: Only the function block specific to the velocity synchronization mode is described in detail below. The detailed descriptions of the other function blocks are contained in section "Basic Functions of the Synchronization Modes". Generating the Synchronous The synchronous velocity command value (dx ) is calculated in terms of...
Page 406 7-100 Operating Modes MPH-02, MPB-02, MPD-02 The following variants are available to do this: • P-0-0155 bit 5 = 0 → velocity adjustment only carried out once, all following changes of velocity are carried out with maximum acceleration • P-0-0155 bit 5 = 1 →...
Page 407 7-101 MPH-02, MPB-02, MPD-02 Operating Modes Sequence of parameterization specific to operating mode: Parameterizing the Operating 1. Depending on parameter P-0-0750, Master axis revolutions per Mode master axis cycle, the range of values for the master axis can be between 0 and 2047 * 2 increments.
Page 408: Phase Synchronization With Real/Virtual Master Axis
7-102 Operating Modes MPH-02, MPB-02, MPD-02 Phase Synchronization with Real/Virtual Master Axis Expansion package synchronization (order code SNC) in closed-loop characteristic Brief Description In the operating mode "phase synchronization with real/virtual master axis" the drive follows a preset master axis position in an absolute or relative phase synchronous way.
Page 409 7-103 MPH-02, MPB-02, MPD-02 Operating Modes IWZ: modulo actual value cycle Fig. 7-79: Block diagram: phase synchronization with real/virtual master axis For machining processes that require absolute phase synchronization, Application "Absolute Phase e.g. printing, punching or perforating in printing machines, the absolute Synchronization"...
Page 410 7-104 Operating Modes MPH-02, MPB-02, MPD-02 For machining processes that only require relative phase synchronization, Application "Relative Phase Synchronization" e.g. synchronization of belts or feed rollers without defined starting point, a relative position reference to the master axis is established. During the first synchronization, there is only an adjustment to the synchronous velocity but no position adjustment carried out.
Page 411 7-105 MPH-02, MPB-02, MPD-02 Operating Modes Pertinent Diagnostic Messages • A0112 Phase synchronization, encoder 1, virtual master axis • A0113 Phase synchronization, encoder 2, virtual master axis • A0114 Phase synchronization, encoder 1, real master axis • A0115 Phase synchronization, encoder 2, real master axis •...
Page 412 7-106 Operating Modes MPH-02, MPB-02, MPD-02 Note: Only the function block specific to the phase synchronization mode is described in detail below. The detailed descriptions of the other function blocks are contained in section "Basic Functions of the Synchronization Modes" In the operating mode "phase synchronization with real/virtual master Generating the Internal Position Command Value...
Page 413 7-107 MPH-02, MPB-02, MPD-02 Operating Modes 0157 0159 − − Xsync 0083) 0156 synchronous position command value sync IWZ: modulo actual value cycle Fig. 7-84: Generating the synchronous position command value with linear scaling Note: As a standard, one master axis revolution is fixed at increments.
Page 414 7-108 Operating Modes MPH-02, MPB-02, MPD-02 "Modulo" Parameterization For "modulo" parameterization make the following settings: Modulo Range 1. In parameter S-0-0103, Modulo value set the modulo range to that value at which the overflow of the position data (from modulo value to "0") is to take place with infinitely turning axis.
Page 415 7-109 MPH-02, MPB-02, MPD-02 Operating Modes "Absolute" Parameterization 1. In the case of absolute scaling, the maximum travel range in Maximum Travel Range parameter S-0-0278 has to be selected at least as large as the range in which the synchronous position data are to be contained. Master Axis Position Range/ 2.
Page 416 7-110 Operating Modes MPH-02, MPB-02, MPD-02 The figure below illustrates the basic commissioning steps: start commissioning general parameterization - linear/rotary scaling - with linear scaling, parameterize feed constant - enter load gear - synchronization velocity and synchronization acceleration modulo absolute scaling (S-0-0076) modulo parameterization...
Page 417 7-111 MPH-02, MPB-02, MPD-02 Operating Modes • C0244 Act. modulo value cycle greater than max. travel range Diagnostic Command Messages This error message is generated when switching from communication phase 3 to 4, if the calculated modulo value for the actual value cycle is greater than the max.
Page 418: Electronic Cam Shaft With Real/Virtual Master Axis
7-112 Operating Modes MPH-02, MPB-02, MPD-02 Electronic Cam Shaft with Real/Virtual Master Axis Expansion package synchronization (order code SNC) in closed-loop characteristic Brief Description In the operating mode "Electronic cam shaft with real/virtual master axis" there is a fixed relationship between the master axis position and the slave axis.
Page 419 7-113 MPH-02, MPB-02, MPD-02 Operating Modes IWZ: modulo actual value cycle Fig. 7-87: Block diagram: electronic cam shaft with real/virtual master axis DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 420 7-114 Operating Modes MPH-02, MPB-02, MPD-02 • S-0-0048, Additive position command value Pertinent Parameters • S-0-0228, Position synchronization window • P-0-0034, Position command additional actual value • P-0-0052, Actual position value of measuring encoder • P-0-0053, Master axis position • P-0-0054, Additive master axis position •...
Page 421 7-115 MPH-02, MPB-02, MPD-02 Operating Modes • A0128 Cam shaft, encoder 1, virtual master axis Pertinent Diagnostic Messages • A0129 Cam shaft, encoder 2, virtual master axis • A0130 Cam shaft, encoder 1, real master axis • A0131 Cam shaft, encoder 2, real master axis •...
Page 422 7-116 Operating Modes MPH-02, MPB-02, MPD-02 Note: Only the function block specific to the cam shaft mode is described in detail below. The detailed descriptions of the other function blocks are contained in section "Basic Functions of the Synchronization Modes". In the operating mode "electronic cam shaft with real/virtual master axis"...
Page 423 7-117 MPH-02, MPB-02, MPD-02 Operating Modes Depending on P-0-0061, Angle offset begin of profile, an interpolated profile value is taken from the cam shaft profiles in every control cycle and the difference to the last interpolated profile value is multiplied by the cam shaft distance.
Page 424 7-118 Operating Modes MPH-02, MPB-02, MPD-02 Note: With an infinite cam shaft the difference between initial value and final value of the cam shaft profile is 100%. Note: For constantly fault-free processing of the position data with infinitely turning axes, the values resulting from gear reduction (P-0-0755 ≠...
Page 425 7-119 MPH-02, MPB-02, MPD-02 Operating Modes For linear scaling with rotary motor, parameterize the feed constant per Feed Constant and Load Gear slave axis revolution (S-0-0123). If available, also set the load gear of the slave axis accordingly in parameters S-0-0121 and S-0-0122. Determine synchronization velocity (P-0-0143) and synchronization Parameterizing the Synchronization Process...
Page 426 7-120 Operating Modes MPH-02, MPB-02, MPD-02 Dynamic Angle Offset Parameter P-0-0085, Dynamic angle offset can be used for compensating a lag error in operation with lag distance, if the mechanical system does not allow lagless operation. With dynamic angle offset the profile access angle is offset depending on the velocity so that the internal master axis position can be calculated according to the formula below: ernal...
Page 427 7-121 MPH-02, MPB-02, MPD-02 Operating Modes "Modulo" Parameterization For "modulo" parameterization make the following settings: Modulo Range 1. In parameter S-0-0103, Modulo value set the modulo range to that value at which the overflow of the position data (from modulo value to "0") is to take place with infinitely turning axis.
Page 428 7-122 Operating Modes MPH-02, MPB-02, MPD-02 "Absolute" Parameterization 1. In the case of absolute scaling, the maximum travel range in Maximum Travel Range parameter S-0-0278 has to be selected at least as large as the range in which the synchronous position data are to be contained. Master Axis Position Range/ 2.
Page 429 7-123 MPH-02, MPB-02, MPD-02 Operating Modes The figure below illustrates the basic commissioning steps: start commissioning general parameterization - linear/rotary scaling - with linear scaling, parameterize feed constant - enter load gear - synchronization velocity and synchronization acceleration parameterization of cam shaft - select cam shaft (active cam shaft, switch angle) - parameterize cam shaft distance...
Page 430 7-124 Operating Modes MPH-02, MPB-02, MPD-02 Diagnostic and Status Messages The following diagnostic status messages are displayed in normal operation of the operating mode (drive enabled, "AF"). Diagnostic Status Messages A0128 Cam shaft, encoder 1, virtual master axis • A0129 Cam shaft, encoder 2, virtual master axis •...
Page 431 7-125 MPH-02, MPB-02, MPD-02 Operating Modes Via parameter P-0-0089 (bit 0,1) there is a feedback indicating which cam Feedback of Active Cam Shaft shaft is presently active. P-0-0089, Status word for synchronous operating modes: • bit 0/1 = 00 → cam shaft 1 active (P-0-0072) •...
Page 432 7-126 Operating Modes MPH-02, MPB-02, MPD-02 Notes DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 433: Drive Functions
MPH-02, MPB-02, MPD-02 Drive Functions Drive Functions Drive Halt Base package of all variants Brief Description The "Drive Halt" function is used to shut down an axis with defined acceleration and defined jerk. The kind of shutdown is determined by the operating mode active before. Note: Apart from the "Drive Halt"...
Page 434 Drive Functions MPH-02, MPB-02, MPD-02 The kind of shutdown, in the case of "Drive Halt", depends on the operating mode active before. Quick Stop in Position Control In position control shutdown is carried out using the values of the acceleration in S-0-0372, Drive Halt acceleration bipolar and of the jerk in S-0-0349, Jerk limit bipolar, when a position control mode was active before.
Page 435: Notes On Commissioning
MPH-02, MPB-02, MPD-02 Drive Functions activation "Drive Halt" (AH) control word (P-0-0116; bit 13) S-0-0372 standstill window (S-0-0124) diagnostic message acknow- ledgment "Drive Halt" (P-0-0115; bit 4) DK000040v02_en.fh7 S-0-0372: Drive Halt acceleration bipolar Fig. 8-2: Principle of "Drive Halt" with velocity control active before Notes on Commissioning Diagnostic and Status Messages The activated "Drive Halt"...
Page 436: Establishing The Position Data Reference
Drive Functions MPH-02, MPB-02, MPD-02 Establishing the Position Data Reference Base package of all variants with closed-loop characteristic General Information on Establishing the Position Data Reference Brief Description During the initial commissioning of a drive the actual position values transmitted by the measuring systems do not yet have any reference to the machine axis.
Page 437 MPH-02, MPB-02, MPD-02 Drive Functions This is configured via parameters and realized with the commands for establishing the position data reference. Actual Position Value Offset The difference of the actual position value before and after establishing the position data reference is displayed, related to the motor encoder or external encoder, in one parameter respectively.
Page 438 Drive Functions MPH-02, MPB-02, MPD-02 The current status of the position data reference of motor encoder and Status Check of Position Data Reference external encoder is displayed in parameter S-0-0403 Position feedback value status via the respective bits. They can be mapped to the drive status word (S-0-0135) by means of assignment.
Page 439: Establishing Position Data Reference For Relative Measuring Systems
MPH-02, MPB-02, MPD-02 Drive Functions Notes on Commissioning Checking the Absolute The possibility of absolute evaluation of motor encoder or external Evaluation of Encoders encoder is displayed by the respective bits of the following parameters: • S-0-0277, Position feedback 1 type (motor encoder) •...
Page 440 Drive Functions MPH-02, MPB-02, MPD-02 sequence for establishing the position data reference are made via assigned parameters. Dedicated Point for Establishing The dedicated point for establishing the position data reference, in the the Position Data Reference case of linear axes, is at one end of the travel range. This allows finding the reference point from any axis position (situation when switched on) by moving in a defined direction.
Page 441 MPH-02, MPB-02, MPD-02 Drive Functions Parameters for relative measuring systems, distance-coded: • S-0-0165, Distance-coded reference offset A • S-0-0166, Distance-coded reference offset B • S0-0177, Absolute offset 1 • S-0-0178, Absolute offset 2 Diagnostic messages for relative measuring systems: Pertinent Diagnostic Messages •...
Page 442 8-10 Drive Functions MPH-02, MPB-02, MPD-02 The motion range required for homing depends on the encoder used: Motion Range for Homing • For encoders of group 1, 2 or 3 motion over the entire travel distance of the axis can be required. •...
Page 443 8-11 MPH-02, MPB-02, MPD-02 Drive Functions travel range reference distance reference offset axis zero point dedicated point reference point axis slide machine axis home switch range DF0073v1.fh7 Fig. 8-5: Example of positions of axis zero point, dedicated point and reference point for encoders of groups 1, 2, 3 As the position data reference can be established both by the motor encoder and by the external encoder possibly available, there are separate parameters for the respective reference offset available for both...
Page 444 8-12 Drive Functions MPH-02, MPB-02, MPD-02 As motor encoder or external encoder can be realized as distance-coded measuring system and the position data reference can be established for both encoders, there are separate parameters for the respective absolute offset available: •...
Page 445 8-13 MPH-02, MPB-02, MPD-02 Drive Functions Depending on the home switch signal, there are the following drive actions when the C0600 homing command is started: Determined Signal status of the Drive action edge reversal home switch (bit in S-0-0147) (bit in S-0-0400) positive motion in reference travel direction, ("not activated")
Page 446 8-14 Drive Functions MPH-02, MPB-02, MPD-02 home switch selected switch cam reference mark axis axis slide mapped reference marks of motor encoder DF0072v1.fh7 Fig. 8-9: Selecting a reference mark via home switch After starting the C0600 command, the dedicated point is detected when the first reference mark signal occurs after the determined edge of the home switch.
Page 447 8-15 MPH-02, MPB-02, MPD-02 Drive Functions Note: Generally, several reference marks can occur in the "activated" range of the home switch signal! But in the case of encoders with distance-coded reference marks, at least two marks have to occur in the "activated" range of the home switch! If the home switch is to be used for selecting a reference mark signal (in Requirements for Selecting a...
Page 448 8-16 Drive Functions MPH-02, MPB-02, MPD-02 optimum distance = critical distance = 0.5 x distance of 0.25 x distance of reference marks reference marks distance of reference marks home switch signal detection in critical range home switch signal detection in allowed range reference travel direction DF0077v1.fh7 Fig.
Page 449 8-17 MPH-02, MPB-02, MPD-02 Drive Functions optimum distance = 0.5 x distance of reference marks distance of reference marks actual home switch signal S-0-0299, Home switch offset effective home switch signal reference travel direction DF0078v1.fh7 Fig. 8-15: Operating principle of parameter S-0-0299 The position distance of the reference mark signals is monitored during Distance Monitoring of Reference Mark Signals...
Page 450 8-18 Drive Functions MPH-02, MPB-02, MPD-02 − − 360degr 0165 Reference Mark Distance of motor encoder RefMarks − − Rotary Encoders 0116 − − 360degr 0165 external encoder RefMarks − − 0117 S-0-0165: value of S-0-0165, Distance-coded reference offset A S-0-0116: value of S-0-0116, Feedback 1 Resolution S-0-0117: value of S-0-0117, Feedback 2 Resolution distance of neighboring reference marks...
Page 451 8-19 MPH-02, MPB-02, MPD-02 Drive Functions Functional Sequence "Drive-Controlled Homing Procedure" Command Value Profile for After starting C0600 Drive-controlled homing procedure command Homing Procedure (S-0-0148) the drive moves the axis according to the reference travel direction set in S-0-0147, Homing parameter. The command value profile generated by the controller depends on: •...
Page 452 8-20 Drive Functions MPH-02, MPB-02, MPD-02 As in the case of all drive-controlled functions, the maximum velocity can Maximum Velocity be directly influenced with a feedrate factor when executing the homing procedure. The effective maximum velocity then results from the product of the values of S-0-0041, Homing velocity and S-0-0108, Feedrate override.
Page 453 8-21 MPH-02, MPB-02, MPD-02 Drive Functions When the control master wants to operate the drive in position control Completing Command C0600 after resetting command C0600, it has to read the drive-internal position command value from P-0-0047,Position command value control and preset it as the position command value.
Page 454 8-22 Drive Functions MPH-02, MPB-02, MPD-02 2. Check whether distance home switch edge-reference mark is within Distance Correction Home Switch Edge- allowed distance range. To do this, you can proceed as follows: Reference Mark • If not yet done, first enter encoder-specific value in P-0-0153, Optimum distance home switch-reference mark.
Page 455 8-23 MPH-02, MPB-02, MPD-02 Drive Functions Property damage caused by step change of actual position value! ⇒ By clearing the command the original operating mode becomes active again. When the "drive- CAUTION internal interpolation" mode was set, for example, the drive immediately moves to the value in S-0-0258, Target position.
Page 456 8-24 Drive Functions MPH-02, MPB-02, MPD-02 If the axis, after execution of command C0600, is to be at the reference point (S-0-0052/S-0-0054), set the respective bit in S-0-0147, Homing parameter. When "stop after detecting the dedicated point" (default setting) was set in "Stop"...
Page 457 8-25 MPH-02, MPB-02, MPD-02 Drive Functions An axis-side reference point possibly available is not used for establishing Settings for the Axis Zero Point the position data reference for distance-coded measuring systems. In order to establish the position reference to the real axis zero point enter the desired axis-related actual position value of the dedicated point (encoder zero point) in parameter S-0-0177, Absolute offset 1 or S-0-0178, Absolute offset 2.
Page 458: Establishing Position Data Reference For Absolute Measuring Systems
8-26 Drive Functions MPH-02, MPB-02, MPD-02 the axis down. The controller therefore can always detect two neighboring reference marks which is required for establishing the position data reference. Note: "Run path" supports homing of Gantry axes when distance- coded encoders are used for both axes! For linear axes with distance-coded measuring system a home switch is Checking the Detection of End of Travel Range...
Page 459 8-27 MPH-02, MPB-02, MPD-02 Drive Functions Note: If the absolute measuring was only set for one encoder, the actual position values of both encoders remain equal as long as mechanical axis system and encoder systems are mechanically connected without slip (slip control is possible!). It is recommended to start the "set absolute measuring"...
Page 460 8-28 Drive Functions MPH-02, MPB-02, MPD-02 Functional Description Reference Position By starting the "set absolute measuring" command the previous actual position value of an encoder at a reference position of the axis is set to a new value. The reference position corresponds to the current axis position at the start of the command.
Page 461 8-29 MPH-02, MPB-02, MPD-02 Drive Functions After the reference was cleared, the new actual position value ...with Inactive Drive ("AB") or in "Drive Halt (AH)" (S-0-0051/S-0-0053), with inactive drive ("AB" or "bb") and with drive in "Drive Halt (AH)", is set according to the preselected reference position (see Fig.
Page 462 8-30 Drive Functions MPH-02, MPB-02, MPD-02 start command "set absolute measuring" clear reference (S-0-0403) "drive enable"? "Drive Halt"? "drive enable"? set current actual position value start command (S-0-0051/S-0-0053) to "drive-controlled homing reference distance procedure"? (S-0-0052/S-0-0054) act. pos. value has new reference (S-0-0051 /S-0-0053 set position status...
Page 463: Shifting The Position Data Reference For Relative And Absolute Measuring Systems
8-31 MPH-02, MPB-02, MPD-02 Drive Functions Make the presetting for "set absolute measuring" by determining the Presetting encoder for "set absolute measuring" in P-0-0612, Control word for setting absolute measuring. Starting "Set Absolute Start the command P-0-0012, C0300 Command Set absolute Measuring"...
Page 464 8-32 Drive Functions MPH-02, MPB-02, MPD-02 Shifting the position data reference affects the motor encoder and, if available, the external encoder, independent of which encoder is the active encoder for position control. If different actual position values are valid for the encoders (both encoders possibly have position data reference independent of each other), the actual position values of both measuring systems are shifted by the same difference.
Page 465 8-33 MPH-02, MPB-02, MPD-02 Drive Functions See also Troubleshooting Guide for "A0010 Drive HALT" In standstill the actual position value is set to S-0-0198, Initial coordinate value and the difference between the new and original actual position value is stored in parameter S-0-0283. The command then is acknowledged as having been "executed".
Page 466 8-34 Drive Functions MPH-02, MPB-02, MPD-02 With master-side command value input, the S-0-0197, C3300 Set coordinate system procedure command has to be started by the master. See also "Command Input and Acknowledgment" in chapter "Master Communication" Checking the Offset of Position When the command was acknowledged by the drive, the offset of the Data Reference position data reference has to be checked:...
Page 467: Error Reactions
8-35 MPH-02, MPB-02, MPD-02 Drive Functions Error Reactions Base package of all variants (except for error reaction "return motion") Overview of Error Reactions Depending on the operating mode that is used and some parameter settings, the drive controller carries out monitoring functions. An error message is generated by the drive controller, if a status is detected that no longer allows correct operation.
Page 468: Best Possible Deceleration
8-36 Drive Functions MPH-02, MPB-02, MPD-02 There are 8 error classes with different priority: Error Classes Diagnostic message Error class Drive reaction number F2xxx non-fatal error according to setting in parameter: - P-0-0119, Best possible deceleration - P-0-0117, Activation of NC reaction on error F3xxx non-fatal safety...
Page 469 8-37 MPH-02, MPB-02, MPD-02 Drive Functions • fatal errors (F8xxx) → immediate torque disable • fatal system errors (F9xxx) → immediate torque disable Possible Drive Reactions One of the following reactions for "best possible deceleration" can be set: Reaction Value of P-0-0119 velocity command value reset ("emergency halt") torque disable velocity command value reset with ramp and filter...
Page 470 8-38 Drive Functions MPH-02, MPB-02, MPD-02 AF reset by NC or error with "velocity command value reset" error reaction, for example AF from NC bit 15: 1 bit 14: 1 (AF internal) P-0-0115 bit 3: 1 drive disables NC command values velocity command value 10 min...
Page 471 8-39 MPH-02, MPB-02, MPD-02 Drive Functions Note: In open-loop-controlled U/f operation deceleration takes place taking the delay entered in parameter P-0-0569, Maximum stator frequency change into account! • S-0-0349, Jerk limit bipolar Pertinent Parameters • S-0-0372, Drive Halt acceleration bipolar The parameters take effect as described under "Drive Halt"...
Page 472 8-40 Drive Functions MPH-02, MPB-02, MPD-02 See also "General Information on the Operation of Motors with IndraDrive: Motor Holding Brake" in chapter "Motor, Mechanical Axis System, Measuring Systems" Return Motion Note: The error reaction "return motion" can only be used for operation with encoder (closed-loop) and when the expansion package "servo function"...
Page 473 8-41 MPH-02, MPB-02, MPD-02 Drive Functions AF reset by NC or error with "return motion" error reaction AF from NC bit 15: 1 bit 14: 1 (AF internal) P-0-0115 bit 3: 1 drive disables NC command values bit 12: 1 target pos.
Page 474: Package Reaction On Error
8-42 Drive Functions MPH-02, MPB-02, MPD-02 Note: The activation and function of the motor holding brake depends on the setting in parameter P-0-0525, Holding brake control word. See Parameter Description "P-0-0525, Holding brake control word" See also "General Information on the Operation of Motors with IndraDrive: Motor Holding Brake"...
Page 475 8-43 MPH-02, MPB-02, MPD-02 Drive Functions Priority of appropriate error reactions for typical drive Reaction to applications Setting in Setting in Requirements drive errors P-0-0117 P-0-0118 NC master-side NC master-side priority of NC reaction no package reaction, Drive with F8 error reaction shutdown and power off active...
Page 476: Nc Reaction On Error
8-44 Drive Functions MPH-02, MPB-02, MPD-02 NC Reaction on Error Brief Description To avoid damages to the machine some applications require that the master (e.g. NC) retains control of the travel profile of the axes in the case of error, too, and shuts down the machine axes in a coordinated way.
Page 477: E-Stop Function
8-45 MPH-02, MPB-02, MPD-02 Drive Functions E-Stop Function Base package of all variants Brief Description The E-Stop function is used to shut down the drive with selectable drive reaction (see P-0-0008, Activation E-Stop function) via a digital input of the drive controller. The following options are available: •...
Page 478: Notes On Commissioning
8-46 Drive Functions MPH-02, MPB-02, MPD-02 Note: This change bit is cleared again by reading S-0-0012, Class 2 diagnostics. Using parameter S-0-0097, Mask class 2 diagnostic warnings can be adjusted in terms of their effect on the change bit. Note: To reactivate the drive, the E-Stop input must be deactivated and another positive edge must be applied to the external drive enable.
Page 479: Diagnostic And Status Messages
8-47 MPH-02, MPB-02, MPD-02 Drive Functions Selecting the Drive Reaction Determining Reaction It is possible to determine whether an error message or a warning is generated when 0 V are detected at the E-Stop input. Bit 1 and bit 2 of P-0-0008, Activation E-Stop function are relevant for determining this.
Page 480: Compensation Functions/Corrections
8-48 Drive Functions MPH-02, MPB-02, MPD-02 Compensation Functions/Corrections Friction Torque Compensation Expansion package servo function (order code SRV) with closed-loop characteristic Brief Description The behavior of a machine axis is negatively affected by static friction when starting or when reversing the direction. The drive-internal friction torque compensation allows compensating the static friction by adding, depending on the direction of movement, a torque/force command value.
Page 481 8-49 MPH-02, MPB-02, MPD-02 Drive Functions reversal of direction S-0-0124 S-0-0155 DK0018v1.fh7 S-0-0124: standstill window S-0-0155: friction compensation Fig. 8-29: Functional principle of friction compensation Note: A hysteresis was implemented in the reversal point so that the compensation value is only added when the drive velocity is outside the standstill window (cf.
Page 482: Encoder Correction
8-50 Drive Functions MPH-02, MPB-02, MPD-02 The compensation value (S-0-0155) is determined in the following steps: Determining the Compensation Value 1. Preset a positive command value for the axis and increase S-0-0092, Bipolar torque/force limit value until the axis moves. The value then contained in S-0-0092 corresponds to the static friction component for positive direction (friction value_positive).
Page 483 8-51 MPH-02, MPB-02, MPD-02 Drive Functions The most important inaccuracies with sinusoidal signals are caused by: Inaccuracy of Sinusoidal Encoder Signals • signal offset → the evaluated sine signal is not symmetrical to the zero line • amplitude error → the signal amplitude is either too low (bad resolution) or too high (crest range cannot be displayed) •...
Page 484 8-52 Drive Functions MPH-02, MPB-02, MPD-02 The correction values are determined once during initial commissioning. If Activation/Deactivation encoder correction has been activated with the drive in operation (respective bits of P-0-0341), the signal shape errors of the encoder track are compensated by adding a correction value. The correction values are generated from the table values of parameter P-0-0342.
Page 485: Axis Error Correction
8-53 MPH-02, MPB-02, MPD-02 Drive Functions When the drive is switched on again (after initial commissioning), the Activating Encoder Correction correction values stored in parameter P-0-0342, Correction value table for encoder correction are automatically activated when the respective bit was set in P-0-0341, Control word for encoder correction! Axis Error Correction Expansion package servo function (order designation SRV) in closed-loop characteristic Brief Description...
Page 486 8-54 Drive Functions MPH-02, MPB-02, MPD-02 • P-0-0412, Axis correction, correction table negative • P-0-0413, Axis correction control word Selecting the Measuring System Measuring System to be The actual position value system to be corrected is selected via the Corrected respective bit of P-0-0413, Axis correction control word.
Page 487 8-55 MPH-02, MPB-02, MPD-02 Drive Functions Backlash on Reversal Correction By means of the backlash on reversal correction it is possible to correct play in the mechanical axis system. backlash of toothed wheels causes play in transmission of rotary motion Mb5001d2.fh7 Fig.
Page 488 8-56 Drive Functions MPH-02, MPB-02, MPD-02 act, corr uncorrected actual position value 1 or 2 corrected actual position value 1 or 2 act,corr Fig. 8-33: Actual position value for v(cmd) > standstill window (S-0-0124) correction value act, corr uncorrected actual position value 1 or 2 corrected actual position value 1 or 2 act,corr Fig.
Page 489 8-57 MPH-02, MPB-02, MPD-02 Drive Functions Precision Axis Error Correction The precision axis error correction is used for correcting non-linear encoder errors and non-linear errors of the mechanical system. The correction acts on the encoder selected by means of P-0-0413. Pertinent parameters: •...
Page 490 8-58 Drive Functions MPH-02, MPB-02, MPD-02 correction value example of corr. supp. points, (equidistant) actual position value uncorrected table index of P-0-0411, P-0-0412 ..max. 499 support point distance start position (P-0-0410) (P-0-0408) correction value curve, interpolated Legend: correction value at support point (positive direction of motion) (positive direction of motion) correction value curve, interpolated...
Page 491 8-59 MPH-02, MPB-02, MPD-02 Drive Functions The figure below illustrates the operating principle of precision axis error Operating Principle correction: P-0-0411, corr. table positive act. pos. val., uncorrected Vcmd > S-0-0124, Standst. window act. pos.val. (corrected) P-0-0412, corr. table negative Vcmd <...
Page 492 8-60 Drive Functions MPH-02, MPB-02, MPD-02 The start position for precision axis error compensation determines the Determining Start Position position of the first correction support point, the end position is determined by the controller and displayed in P-0-0409, Axis correction end position.
Page 493 8-61 MPH-02, MPB-02, MPD-02 Drive Functions Note: When actual position reference values are measured, all machine parts have to have reference temperature! All temperature data are scaled with the temperature scaling (S-0-0208) Scaling set on the drive side. The factors for linear expansion (P-0-0406, P-0-0407) are scaled with the quotient position data scaling/temperature scaling (S-0-0076/S-0-0208).
Page 494 8-62 Drive Functions MPH-02, MPB-02, MPD-02 Operating principle of position-independent temperature correction: actual position value act. temperature act. pos. val., corrected refer. temperature corr. value internal P-0-0407, Temp. factor position-indep. Fig. 8-44: Position-independent temperature correction Drive-internal determination of the correction value: = P-0-0407 * (P-0-0405 - P-0-0402) correction value, temperature-dependent P-0-0407:...
Page 495 8-63 MPH-02, MPB-02, MPD-02 Drive Functions correction value x (∆T (∆T temperature difference ∆T ∆T ∆T (∆T) (∆T correction value (measured position value – actual position value (S-0-0051/S-0-0053)) ∆T temperature difference (measured temperature – reference temperature (P-0-0402)) Fig. 8-48: Approximated straight correction line on the basis of measured correction values at different ∆T The gradient of the approximated straight line is the value of the position- Calculation by Means of...
Page 496 8-64 Drive Functions MPH-02, MPB-02, MPD-02 Pertinent parameters: • P-0-0402, Axis correction reference temperature • P-0-0403, Axis correction reference position for temp. corr. • P-0-0404, Axis correction actual temperature pos.-dependent • P-0-0406, Axis correction temperature factor pos.-dependent actual pos. value with pos.- dependent position error, "point of reference"...
Page 497 8-65 MPH-02, MPB-02, MPD-02 Drive Functions When the position data reference was established for the actual position value system, the correction value related to the current actual position value is drive-internally determined as follows: = (S-0-0051/53 - P-0-0403) * (P-0-0404 - P-0-0402) * P-0-0406 correction value, temperature- and position-dependent S-0-0051/53: actual position value encoder 1 or encoder 2 P-0-0402:...
Page 498 8-66 Drive Functions MPH-02, MPB-02, MPD-02 Gradient of the straight line: ∑ ∑ ∑ × × − × ∑ ∑ × − ² )² number of measured values actual position at which a correction value x was measured act_n correction value at x act_n Fig.
Page 499 8-67 MPH-02, MPB-02, MPD-02 Drive Functions − − 16025 − 034620 − 16025 13850 Fig. 8-60: Auxiliary equation 2 − − 034620 0005884 Fig. 8-61: Reference position In order to be able to determine the reference position as exactly as possible, several series of measurements should be recorded at different temperatures for position-dependent temperature correction.
Page 500: Quadrant Error Correction
8-68 Drive Functions MPH-02, MPB-02, MPD-02 The gradient of the approximated straight line is the value of the position- dependent temperature factor. By means of the value from the series of measurements it is possible to calculate the position-dependent temperature factor: ∑...
Page 501 8-69 MPH-02, MPB-02, MPD-02 Drive Functions Functional Description For quadrant error correction, static friction possibly occurring at the reversal points of the direction of motion is compensated by adding an additional, pulse-shaped command value to the velocity command value at the output of the position loop. By means of this velocity feedforward the axis overcomes the static friction faster and with less lag error.
Page 502 8-70 Drive Functions MPH-02, MPB-02, MPD-02 By means of list parameters the circular velocities and velocity pulse amplitudes are assigned to one another: • P-0-0438, Table of path velocities for quadrant error correction • P-0-0439, Table of velocity pulse for quadrant error correction It is possible to store 20 pairs of values for velocity and pulse amplitude in the mentioned parameters, the velocities have to be entered in ascending order.
Page 503 8-71 MPH-02, MPB-02, MPD-02 Drive Functions Notes on Commissioning For commissioning it is necessary to move the drive by the control master in cyclic circular interpolation. The quality of the circular form has to be determined, in the ideal case with measuring equipment for circular form testing.
Page 504: Detecting The Marker Position
8-72 Drive Functions MPH-02, MPB-02, MPD-02 Detecting the Marker Position Base package of all variants with closed-loop characteristic Brief Description The "get marker position" function, that is activated via the respective command, can be used for: • checking the correct detection of the reference mark of an incremental measuring system - or - •...
Page 505: Measuring Wheel Mode/Hybrid Position Control
8-73 MPH-02, MPB-02, MPD-02 Drive Functions Note: In parameter S-0-0173, Marker position A the position of the reference mark is also stored during the execution of the "C0600 Drive-controlled homing procedure command" (S-0-0148). This position, however, refers to the "old" coordinate system (before switching the coordinate system when executing the homing procedure).
Page 506: Functional Description
8-74 Drive Functions MPH-02, MPB-02, MPD-02 Pertinent Parameters The following parameters are used to parameterize this feature: • P-0-0240, C1700 Command measuring wheel mode • P-0-0241, Actual pos. smoothing time constant for hybrid pos. control • P-0-0242, Current actual slip value in % •...
Page 507 8-75 MPH-02, MPB-02, MPD-02 Drive Functions Note: If the value of parameter P-0-0241, Actual pos. smoothing time constant for hybrid pos. control is "0", the actual position value of the motor encoder is ignored and only the actual position value of the measuring wheel encoder is used for position control! The mechanical arrangement of the measuring wheel encoder in the mechanical drive system is illustrated in the figure below:...
Page 508 8-76 Drive Functions MPH-02, MPB-02, MPD-02 After the measuring wheel mode has been deactivated, the position data reference to the axis, if necessary, has to be established again for relative and absolute encoders. Position-Controlled Operating When activating and completing the measuring wheel mode in position- Modes controlled operating modes, the actual position value of the motor encoder is included in the actual position value of the measuring wheel...
Page 509: Notes On Commissioning
8-77 MPH-02, MPB-02, MPD-02 Drive Functions Notes on Commissioning Presettings First set the parameter values relevant to the mechanical arrangement of motor, motor encoder, axis and measuring wheel (see fig. "Arrangement of the measuring wheel encoder in the mechanical drive system"). Activating the Measuring Wheel Mode Property damage caused by uncontrolled drive...
Page 510: Positive Stop Drive Procedure
8-78 Drive Functions MPH-02, MPB-02, MPD-02 smoothness of running and positioning velocity (e.g. for cutting material into sections) [watch P-0-0038, Torque-generating current, command value!]. The slip monitor with active measuring wheel mode is activated by Slip Monitoring with Measuring Wheel Mode entering a value greater zero in parameter •...
Page 511: Functional Description
8-79 MPH-02, MPB-02, MPD-02 Drive Functions Pertinent Parameters • S-0-0092, Bipolar torque/force limit value • S-0-0124, Standstill window • S-0-0149, C1300 Positive stop drive procedure command Pertinent Diagnostic Messages • C1300 Positive stop drive procedure command • C1301 Class 1 diagnostics error at command start Functional Description Moving a machine axis to a limit stop in a position-controlled way, e.g.
Page 512: Notes On Commissioning
8-80 Drive Functions MPH-02, MPB-02, MPD-02 Notes on Commissioning For acknowledgment of command C1300 it is necessary to set: • threshold value for detection of axis standstill • S-0-0124, Standstill window • torque/force threshold in • S-0-0092, Bipolar torque/force limit value Note: S-0-0124 and S-0-0092 are used for other functions, too.
Page 513: Functional Description
8-81 MPH-02, MPB-02, MPD-02 Drive Functions Pertinent Parameters • S-0-0152, C0900 Position spindle command • S-0-0153, Spindle angle position • S-0-0154, Spindle position parameter • S-0-0180, Spindle relative offset • S-0-0222, Spindle positioning speed • S-0-0372, Drive Halt acceleration bipolar •...
Page 514 8-82 Drive Functions MPH-02, MPB-02, MPD-02 Note: In the case of a mechanical system with slip (e.g. V-belt) between motor and spindle, an optional encoder is obligatory! The encoder used for spindle positioning is defined by the bit for encoder selection in S-0-0147, Homing parameter.
Page 515 8-83 MPH-02, MPB-02, MPD-02 Drive Functions Specific Features with "Modulo" Position Data Format Infinitely Turning Axis Spindles for machine tools or rotary axes mostly are infinitely turning axes, their required position being within one revolution (0…360 dgr). For those axes it is recommended to use the "modulo" position data format because it allows displaying the actual position values with reference to one axis revolution only.
Page 516: Notes On Commissioning
8-84 Drive Functions MPH-02, MPB-02, MPD-02 Start position of spindle positioning ... Current direction of rotation at … within … outside of start of spindle positioning target position window (S-0-0418) target position window (S-0-0418) as selected direction of Positioning takes place over shortest Positioning takes place at next target positioning motion distance, if values do not leave target...
Page 517: Diagnostic Messages
8-85 MPH-02, MPB-02, MPD-02 Drive Functions Determining threshold values for "In Position" message: • S-0-0057, Position window • S-0-0124, Standstill window See also Parameter Description "S-0-0013, Class 3 diagnostics" If the position data are scaled in modulo format, it is possible to specify limiting conditions that improve the reproduction of the positioning process: •...
Page 518: Rexroth Indramotion Mld-S (Drive-Integrated Plc)
8-86 Drive Functions MPH-02, MPB-02, MPD-02 8.10 Rexroth IndraMotion MLD-S (Drive-Integrated PLC) Expansion package IndraMotion MLD-S (order designation ML) Brief Description General Information The optional expansion package "IndraMotion MLD-S" provides the function of a PLC integrated in the drive according to IEC-61131-3 with the following scope of functions: •...
Page 519 8-87 MPH-02, MPB-02, MPD-02 Drive Functions Note: The functionality of a drive-integrated PLC according to IEC-61131-3 is only contained in the FWA-INDR*-MPH02VRS firmware and requires the enabling of the additive functional package "IndraMotion MLD-S". See also sections: • "Functional Packages" in chapter "System Overview" •...
Page 520: Notes On Installation/System Configuration
8-88 Drive Functions MPH-02, MPB-02, MPD-02 Pertinent Parameters • P-0-1350, PLC control word • P-0-1351, PLC status word • P-0-1367, PLC configuration • P-0-1369, PLC internally reserved • P-0-1370, PLC Global Register G0 • P-0-1371, PLC Global Register G1 • P-0-1372, PLC Global Register G2 •...
Page 521: Overview Of Available Libraries
8-89 MPH-02, MPB-02, MPD-02 Drive Functions Overview of Available Libraries Note: This chapter only gives a short explanation of the basic functions or libraries. The functional details are described in the separate documentation "Rexroth IndraMotion MLD-S". There are the following data channels to the drive available: •...
Page 522 8-90 Drive Functions MPH-02, MPB-02, MPD-02 • Functions for scaling: • MX_fDINT_AccTo_REAL • MX_fDINT_DistTo_REAL • MX_fDINT_VelTo_REAL • MX_fREAL_AccTo_DINT • MX_fREAL_DistTo_DINT • MX_fREAL_VelTo_DINT List of global variables "Direct access variable for idents": • Direct variables (e.g.): • DV_P_0_0009 (*Error_number*) • DV_P_0_0038 (*Torquegenerating_current_command_value*) •...
Page 523: 8.11 Drive-Integrated Safety Technology
8-91 MPH-02, MPB-02, MPD-02 Drive Functions 8.11 Drive-Integrated Safety Technology Note: The drive-integrated safety technology is a functionality only scalable by means of the hardware and does not require any additional enabling of functions. This optional extension of the drive functionality is described in detail in the separate documentation "Rexroth IndraDrive: Integrated Safety Technology"...
Page 524: Integrated Safety Functions
8-92 Drive Functions MPH-02, MPB-02, MPD-02 Pertinent Diagnostic Messages • A0011 Starting lockout active • E3110 Time interval for forced dynamization exceeded • F8027 Starting lockout while drive enabled Integrated Safety Functions The following configurable control sections can use the integrated safety Hardware Requirements functions if they have been equipped with the optional safety module S1: •...
Page 525 8-93 MPH-02, MPB-02, MPD-02 Drive Functions • Safety related maximum velocity: • safety related maximum velocity in normal operation • Safety related end position (in preparation): • safety related end position in normal operation Pertinent Parameters • P-0-3200, Safety technology firmware code •...
Page 526 8-94 Drive Functions MPH-02, MPB-02, MPD-02 • P-0-3239, Nominal load torque safety related brake management • P-0-3240, Control word for safety related motion 1 • P-0-3241, Safety related limited absolute position 1, positive • P-0-3242, Safety related limited absolute position 1, negative •...
Page 527 8-95 MPH-02, MPB-02, MPD-02 Drive Functions • E3107 Error when unlocking the safety door • F3112 Reference missing when selecting safety related pos. • F3117 Plausibility error of actual position values • F3130 Error when checking input signals • F3131 Error when checking acknowledgment signal •...
Page 528 8-96 Drive Functions MPH-02, MPB-02, MPD-02 Notes DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 529: Extended Drive Functions
MPH-02, MPB-02, MPD-02 Extended Drive Functions Extended Drive Functions Probe Function Expansion package synchronization (order designation SNC) in all designs Brief Description • up to 2 probe inputs per axis, depending on hardware design of control Features section (CSH…, CSB…, CDB…) •...
Page 530: Functional Description
Extended Drive Functions MPH-02, MPB-02, MPD-02 • S-0-0132, Probe value 2 positive edge • S-0-0133, Probe value 2 negative edge • S-0-0169, Probe control parameter • S-0-0170, Probing cycle procedure command • S-0-0179, Measured value status • S-0-0401, Probe 1 •...
Page 531 MPH-02, MPB-02, MPD-02 Extended Drive Functions Note: The rapid digital inputs have to be assigned to the parameters S-0-0401 and S-0-0402 (default setting of P-0-0300, Digital I/Os, assignment list etc.)! See "Digital Inputs/Outputs" in the same chapter A switching edge at the probe input can trigger the detection of a Activating the Measured Value Detection measured value.
Page 532 Extended Drive Functions MPH-02, MPB-02, MPD-02 In addition, other modalities of measured value detection for one probe input can be preset in parameter P-0-0226, Probe, extended control word: • switching from position measurement to time measurement • limitation of a range for actual position values ("expectation window") in which measurements can take place.
Page 533 MPH-02, MPB-02, MPD-02 Extended Drive Functions With each measuring event a status information is generated and Measured Value Status incremented for each probe, depending on the polarity of the respective measured value trigger. This is particularly advantageous for continuous measurement in order to detect new measuring events. This status information is stored in the corresponding parameter: •...
Page 534: Notes On Commissioning
Extended Drive Functions MPH-02, MPB-02, MPD-02 • By registering a measured value trigger within the "expectation window" the value in parameter P-0-0224, Probe, number of marker failures is cleared. Note: The "expectation window" cannot be used with "time measurement"! The limitation values for the "expectation window" are set in the following Setting the Expectation Window parameters: •...
Page 535 MPH-02, MPB-02, MPD-02 Extended Drive Functions Activating the Measurement Activate the measured value detection via S-0-0170, Probing cycle procedure command, then enable the respective probe input for measured value detection via • S-0-0405, Probe 1 enable or • S-0-0406, Probe 2 enable. Single Measurement Every repeated "single measurement"...
Page 536: Measuring Encoder
Extended Drive Functions MPH-02, MPB-02, MPD-02 Measuring Encoder Expansion package synchronization (order code SNC) in all characteristics Brief Description Measuring encoders are used for position evaluation of a rotary motion Position Measurement that takes effect as a command variable for drive control. The actual position value of the measuring encoder therefore is of command value nature for drive control, the measuring encoder acts as a master axis encoder, for example.
Page 537 MPH-02, MPB-02, MPD-02 Extended Drive Functions For controllers with a double-axis control section (CDB01.1-...) it is only possible to assign a measuring encoder to one axis. The assignment is made in parameter P-0-0076, Encoder type 3 (measuring encoder). If a measuring encoder was assigned to both axes, an error message will be displayed! See also separate documentation "Project Planning Manual for...
Page 538: Functional Description
9-10 Extended Drive Functions MPH-02, MPB-02, MPD-02 Functional Description Basics on Measuring Encoder, Resolution The measuring encoder is mechanically connected to an axis or shaft and detects its position data. These position data can be used as measured values or command variable, but not as control variable. Encoders to be Used Only rotary encoders can be used as measuring encoders.
Page 539 9-11 MPH-02, MPB-02, MPD-02 Extended Drive Functions Depending on P-0-0327, Encoder resolution of measuring encoder and the gear ratio of the measuring encoder (P-0-0127, P-0-0128), a multiple of position data results from one division period of the measuring encoder due to digitalization. By adjusted multiplication the available range of measuring encoder position data of (2 -1) values is observed.
Page 540 9-12 Extended Drive Functions MPH-02, MPB-02, MPD-02 Note: The value of P-0-0326 calculated according to the formulas "drive-internal measuring encoder resolution" normally will never be exactly 2 (= 32768). With results that are, depending on the encoder, as little as possible greater than , the conditions with regard to the selected number of cycles and the possibilities of encoder evaluation are ideal! The lower value from "drive-internal resolution of master axis position...
Page 541 9-13 MPH-02, MPB-02, MPD-02 Extended Drive Functions During the transition from communication phase "P2" to "P4" (bb), the drive recognizes that the former position data reference of the encoder does no longer exist. It sets P-0-0331, Status of measuring encoder to "not homed"...
Page 542 9-14 Extended Drive Functions MPH-02, MPB-02, MPD-02 By starting the "set absolute measuring" command the previous, Reference Position incremental actual position value of the measuring encoder at a reference position of the axis or shaft is set to a defined value. The reference position corresponds to the current axis position at the start of the command.
Page 543 9-15 MPH-02, MPB-02, MPD-02 Extended Drive Functions Note: In the case of rotary encoders, reference mark signals usually occur once per encoder revolution! When the reference mark signal is read the next time, the previous, Reference Position encoder-related actual position value at a reference position of the axis or shaft is set to a defined value.
Page 544: Notes On Commissioning
9-16 Extended Drive Functions MPH-02, MPB-02, MPD-02 The offset of the position data reference is reset by entering the old value Resetting the Offset (before the value was shifted) in parameter P-0-0087. Notes on Commissioning Configuration and Setting Configuring the Controller The optional interfaces have to be assigned to the measuring encoder connection: •...
Page 545 9-17 MPH-02, MPB-02, MPD-02 Extended Drive Functions Note: Incremental scaling! The threshold of the error message depends on application-specific aspects of operational safety. The monitor is deactivated by the value "0"! If the change of actual position value between the switching off and switching on is greater than the threshold value that was set, the following error message is generated: •...
Page 546: Encoder Emulation
(mostly in machine tool applications) is considered as critical (see restrictions under "Notes on Commissioning") and always has to be carefully considered beforehand! For sophisticated applications Bosch Rexroth recommends to use digital interfaces, such as SERCOS interface. See "Notes on Commissioning: Restrictions" in the same section...
Page 547 9-19 MPH-02, MPB-02, MPD-02 Extended Drive Functions Incremental encoder emulation is the simulation of a real incremental Incremental Encoder Emulation encoder by the drive controller. In the form of incremental encoder signals, a higher-level numeric control (NC) receives information about the velocity of the motor connected to the controller.
Page 548: Basic Information On The Function
9-20 Extended Drive Functions MPH-02, MPB-02, MPD-02 Pertinent Parameters • P-0-0900, Encoder emulation signal selection list • P-0-0901, Encoder emulation signal selection • P-0-0902, Encoder emulation control parameter • P-0-0903, Encoder emulation resolution • P-0-0904, Encoder emulation zero pulse offset •...
Page 549: Incremental Encoder Emulation
9-21 MPH-02, MPB-02, MPD-02 Extended Drive Functions • internal digital position values • internal position command value (P-0-0434) • resulting master axis position (P-0-0775) → requires the functional package "synchronization"! • effective master axis position (P-0-0776) → requires the functional package "synchronization"! Selecting the Emulation Signal The emulation signal is determined by entering the desired IDN from the list parameter P-0-0900 in parameter P-0-0901, Encoder emulation...
Page 550 9-22 Extended Drive Functions MPH-02, MPB-02, MPD-02 The figure below illustrates the format and time flow of the incremental encoder signals: one line track A square-wave pulses with view track B to motor shaft and clockwise rotation zero pulse t1 < 50 ns DK000050v01_en.fh7 Fig.
Page 551 9-23 MPH-02, MPB-02, MPD-02 Extended Drive Functions then (if axis has been homed) always have a fixed reference to the machine zero point. If the axis has not been homed, there aren’t any zero pulses output! Note: As a prerequisite the drive is moved via the position control loop of the control unit (homing, going to zero) in order to correctly initialize the zero pulse output.
Page 552: Absolute Encoder Emulation
9-24 Extended Drive Functions MPH-02, MPB-02, MPD-02 Absolute Encoder Emulation The absolute encoder emulation provides a digital, coded, absolute position signal that can be serially read in the position loop clock (Basic: TA = 500µs, Advanced: TA = 250µs). The resolution of the absolute position and therefore the travel range that can be displayed in absolute form are depending on the input in parameter P-0-0903, Encoder emulation resolution.
Page 553 9-25 MPH-02, MPB-02, MPD-02 Extended Drive Functions Resolution and Unit of the Emulated Signal Resolution The output data format (i.e. the resolution) for the emulated SSI position is determined in parameter P-0-0903, Encoder emulation resolution. The input range and the unit of the value in parameter P-0-0903 are Unit of the Emulated Position depending on: •...
Page 554: Notes On Commissioning
9-26 Extended Drive Functions MPH-02, MPB-02, MPD-02 Notes on Commissioning In contrast to a "real" encoder, encoder emulation uses a simulated encoder. In motion the real encoder signal and the output of the emulator can differ. The causes for such differences can be: •...
Page 555 9-27 MPH-02, MPB-02, MPD-02 Extended Drive Functions Due to the internal signal processing, the periodic time and duty cycle of Oscillating Signal Frequency within one Output Cycle the output signals are varying. The periodic time (or frequency) of the resulting cycles can therefore be shorter or longer, too. This is why the signals of incremental emulation should not be used for measuring the speed by means of frequency measurement, but the signals may only be evaluated by counting the increments.
Page 556: Diagnostic And Status Messages
9-28 Extended Drive Functions MPH-02, MPB-02, MPD-02 Diagnostic and Status Messages The following diagnostic messages can only occur with incremental encoder emulation: • F2053 Incr. encoder emulator: pulse frequency too high The output frequency resulting from the resolution that has been set (P-0-0903) and the travel velocity exceeds the value of the maximum pulse frequency of 1024 kHz.
Page 557 9-29 MPH-02, MPB-02, MPD-02 Extended Drive Functions • 2 assignment mechanisms for analog inputs General Features (assignment A or B) • different sampling rates of assignments A and B • assignment channel A works in position loop clock (advanced: T = 250µs, basic: T = 500µs) •...
Page 558: Functional Description
9-30 Extended Drive Functions MPH-02, MPB-02, MPD-02 • P-0-0228, Analog input 3 • P-0-0229, Analog input 4 • P-0-0232, Analog input 3, time constant input filter • P-0-0233, Analog input 4, time constant input filter • P-0-3901, Adjust values of control section •...
Page 559 9-31 MPH-02, MPB-02, MPD-02 Extended Drive Functions Sampling and Signal Processing of Analog Inputs Sampling The analog input signals (max. 4 analog inputs) are sampled with 8-fold oversampling in the position loop clock (advanced: T = 250µs; basic: T = 500µs). All sampled analog input signals can be smoothed by a PT1 filter.
Page 560 9-32 Extended Drive Functions MPH-02, MPB-02, MPD-02 Note: It is therefore only possible to assign a maximum of 2 analog inputs to internal drive parameters (see assignment A and B). All other analog inputs can then only be used for direct access via the master communication or the drive-integrated PLC (e.g.
Page 561 9-33 MPH-02, MPB-02, MPD-02 Extended Drive Functions Note: The analog channels are already adjusted at the factory and the correction values are stored in the parameters P-0-3901 and P-0-3904. The zero point for processing the analog input value can be automatically Zero Point Shifting shifted by activating command C2800 which allows compensating a possibly existing offset.
Page 562: Notes On Commissioning
9-34 Extended Drive Functions MPH-02, MPB-02, MPD-02 To stabilize the analog signal in the zero range it is possible to "Dead Zone" to be Parameterized parameterize a so-called "dead zone": • P-0-0216, Analog input, assignment A, dead zone • P-0-0239, Analog input, assignment B, dead zone Note: Parameterizing a "dead zone"...
Page 563: Diagnostic Messages And Status Displays
9-35 MPH-02, MPB-02, MPD-02 Extended Drive Functions See also Parameter Description "P-0-0218, Analog input, control parameter" By means of the assignment mechanism (assignment A or B) it is Assignment to Drive Parameters possible to assign the analog input values to drive parameters. Assignment takes place in the following parameters: •...
Page 564: Analog Outputs
9-36 Extended Drive Functions MPH-02, MPB-02, MPD-02 Analog Outputs Brief Description In order to diagnose the drive behavior it is possible to map status variables and internal signals as analog voltage signals and pick them off at output terminal connectors of the drive controller. When the drive is commissioned or for diagnostic purposes the required status variables or signals are visualized by means of appropriate measuring instruments, such as oscilloscope, multimeter or display...
Page 565: Functional Description
9-37 MPH-02, MPB-02, MPD-02 Extended Drive Functions Functional Description Basic Features Depending on the design of the control section (type designation), IndraDrive controllers can have the following analog output equipment: • no analog outputs • analog outputs 1 and 2 •...
Page 566 9-38 Extended Drive Functions MPH-02, MPB-02, MPD-02 Example of "Limited" or "Overflowing" Output Setting out_max 800 min 800 min 0 min 0 min out_min e.g. speed scaling = 200min e.g. speed scaling = 130min with overflow 800 min out_max (display only 650 min 0 min out_min e.g.
Page 567 9-39 MPH-02, MPB-02, MPD-02 Extended Drive Functions The analog outputs are scaled (range of values per V) in the following Scaling parameters: • P-0-0422, Analog output, assignment A, scaling [1/V] • P-0-0425, Analog output, assignment B, scaling [1/V] Reference Point The reference of the analog outputs is defined (value at output of 0 V) in the following parameters: •...
Page 568 9-40 Extended Drive Functions MPH-02, MPB-02, MPD-02 Outputting Voltage Signals Independent of the Drive The machine control unit can output voltage signals independent of the drive at the analog outputs of the drive. Signals from the master can be directly assigned to the analog outputs via the master communication system between drive and master.
Page 569: Notes On Commissioning
9-41 MPH-02, MPB-02, MPD-02 Extended Drive Functions Notes on Commissioning Settings for Analog Output 1, Presettings for the analog output have to be made in P-0-0427, Control For Example parameter of analog output: • setting the mode (drive-independent voltage signals or assigned parameters) •...
Page 570: Digital Inputs/Outputs
9-42 Extended Drive Functions MPH-02, MPB-02, MPD-02 Digital Inputs/Outputs Base package of all variants Brief Description In their basic configuration (without optional modules), all IndraDrive controllers already have configurable digital inputs/outputs. The number and function of the inputs/outputs differ according to the type and configuration of control section.
Page 571 9-43 MPH-02, MPB-02, MPD-02 Extended Drive Functions Pertinent Parameters • S-0-0398, IDN list of configurable data in signal status word • S-0-0399, IDN list of configurable data in the signal control word • P-0-0300, Digital I/Os, assignment list • P-0-0301, Digital I/Os, bit numbers •...
Page 572: Notes On Commissioning For Digital I/Os Of Control Section
9-44 Extended Drive Functions MPH-02, MPB-02, MPD-02 Pertinent Parameters • S-0-0144, Signal status word • S-0-0145, Signal control word • S-0-0398, IDN list of configurable data in signal status word • S-0-0399, IDN list of configurable data in the signal control word •...
Page 573 9-45 MPH-02, MPB-02, MPD-02 Extended Drive Functions The respective bit in the source or target parameter is selected via Source or Target Parameter P-0-0301, Digital I/Os, bit numbers. Note: When P-0-0300[i] = S-0-0000 the respective entry in P-0-0301 is ignored! A number of digital inputs/outputs can be used both as an input and as an Operating Principle output.
Page 574 9-46 Extended Drive Functions MPH-02, MPB-02, MPD-02 As an example, the following figure illustrates the configuration of pin E4 on terminal connector X3 as an input signal for bit 1 of parameter S-0-0222 (negative limit switch); the configuration assignment takes place via i = 4.
Page 575 9-47 MPH-02, MPB-02, MPD-02 Extended Drive Functions Specific Features of Double-Axis Devices (Firmware MPD) Basically, the existing inputs and outputs can be freely assigned to all axes. To do this the parameters P-0-0300, P-0-0301, P-0-0302 are available for both axes. There are the following restrictions: •...
Page 576 9-48 Extended Drive Functions MPH-02, MPB-02, MPD-02 If one of these functions (e.g. travel range limit switch via P-0-0090, bit 1) was activated but not assigned to any digital input via P-0-0300, the functionality (in the limit switch example) is not guaranteed.
Page 577: Notes On Commissioning For Digital I/Os Of Optional Module Md1
9-49 MPH-02, MPB-02, MPD-02 Extended Drive Functions Reading in peripheral status signals is possible via the digital inputs and Reading In Status Signals parameter P-0-0303, Digital I/Os, status display (see also Parameter Description): • configuration of P-0-0303 in the cyclic data •...
Page 578 9-50 Extended Drive Functions MPH-02, MPB-02, MPD-02 There are the following possibilities for using the digital I/Os on the Possibilities of Access optional module MD1: • direct access via master communication by the master (e.g. PLC) • configuration of I/Os to any (see S-0-0398 and S-0-0399) drive parameter and bit •...
Page 579 9-51 MPH-02, MPB-02, MPD-02 Extended Drive Functions Configuring the I/Os of the optional module MD1 to any Parameter and Bit It is possible to assign the digital I/Os of the optional module MD1 to any drive parameter. To do this the following steps are required: •...
Page 580 9-52 Extended Drive Functions MPH-02, MPB-02, MPD-02 The figure below illustrates the access to any drive parameter via the digital I/Os of the optional module MD1. drive S-0-0144 enter IDN! P-0-0681 assignment P-0-0081 outputs P-0-0082 inputs assignment P-0-0682 enter IDN! S-0-0145 DF000102v01_en.fh7 S-0-0144:...
Page 581: Diagnostic Messages And Status Displays
9-53 MPH-02, MPB-02, MPD-02 Extended Drive Functions Configuration of Digital I/Os for Integrated Safety Technology In order to use the digital I/Os for the safety technology integrated in the drive, the corresponding assignments have to be made via the parameters P-0-0681 and P-0-0682: •...
Page 582: Hardware Requirements
9-54 Extended Drive Functions MPH-02, MPB-02, MPD-02 Digital Inputs/Outputs on Optional Module MD1 Status of Digital Inputs/Outputs The status of the digital inputs/outputs on the MD1 is displayed in the following parameters: • P-0-0081, Parallel output 1 → contains the information regarding the digital output bits •...
Page 583: Handling, Diagnostic And Service Functions
10-1 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Handling, Diagnostic and Service Functions 10.1 Parameters, Basics Properties, Features of Parameters Brief Description The controller firmware via data maps the drive to an internal mathematical model. All operating data relevant therefor are mapped to parameters.
Page 584 10-2 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 All data block elements can be read via an appropriate master Writing and Reading a Parameter communication interface or serial interface. Only the operating data can also be written. The operating data of a parameter can be permanently write-protected or always resp.
Page 585: Loading, Storing And Saving Parameters
10-3 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions When errors of this category are detected, the IDNs of the parameters with the incorrect operating data are listed in: • S-0-0021, IDN list of invalid operating data for communication phase 2 •...
Page 586 10-4 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Loading parameter values is required in the following cases: Loading Parameter Values • initial commissioning of the motor (loading basic parameter values and motor-specific parameter values) • serial commissioning of machine axes at series machines (loading the values saved after initial commissioning) •...
Page 587 10-5 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Switching the communication phase: Pertinent Diagnostic Messages • C0400 Switching to parameter mode • C0402 Only allowed without master Load defaults procedure (loading controller parameters): • C07_0 Load defaults procedure com. (load controller param.) •...
Page 588 10-6 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Functional Description Storage Media in the Drive All operating data referring to hardware are stored in the drive controller. Controller They cannot be changed by the user. Each circuit board is provided with a non-volatile memory. It carries the circuit board code and circuit board-specific operating data.
Page 589 10-7 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Non-volatile storage is carried out with each write access to the respective operating data. Volatile storage of parameter values is recommended when application- specific parameters are cyclically written. Otherwise, the service life of the non-volatile storage media is affected.
Page 590 10-8 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 To load saved parameter values or transmit axis-specific parameter Loading Application-Specific Parameter Values values to controllers of other axes there are the following possibilities: • Start P-0-4091, C2500 Copy IDN from optional memory to internal memory The parameter values (according to list of S-0-0192) stored on a plugged MMC are loaded to the device-internal, non-volatile flash...
Page 591 10-9 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions After loading the basic parameters the controller signals "RL" if a Rexroth Loading Motor-Specific Control Loop Parameter Values motor with motor encoder data memory was connected. By means of • pressing the "Esc" button at the control panel - or - •...
Page 592 10-10 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Respective diagnostic messages in the case of possible command errors: • C2201 Parameter conversion error • C2202 Error when writing data to non-volatile memory After all application-specific parameter values are saved (C2200) it is also possible to only save selected parameter values in the flash memory.
Page 593: Idn Lists Of Parameters
10-11 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Respective diagnostic command message: • C0400 Switching to parameter mode Respective diagnostic messages in the case of possible command errors: • C0402 Only allowed without master Note: The drive returns to the operating mode by a successive start of the commands S-0-0127, C0100 Communication phase 3 transition check and S-0-0128, C0200 Communication phase 4 transition check!
Page 594 10-12 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Parameters are detected as being invalid if: • their checksum does not match the operating data [the checksum is stored together with the operating data in a non-volatile memory (MultiMediaCard/MMC, flash memory, amplifier or motor encoder data memory)] - or - •...
Page 595: Using A Password
10-13 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions S-0-0025, IDN-list of all procedure commands The IDNs of all the command parameters available in the drive are stored in the operating data of the S-0-0025, IDN-list of all procedure commands parameter. S-0-0270, Selected IDN list of operation data to backup The IDNs of those parameters are stored in the S-0-0270, Selected IDN list of operation data to backup parameter that are to be saved when...
Page 596 10-14 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 The drive firmware allows activating and deactivating the write protection for parameter values by means of three hierarchically different passwords: • Customer password The parameter values of a parameter group combined by the customer can be protected.
Page 597 The master password is defined by the manufacturer, too, but is Master Password exclusively available to the Bosch Rexroth development and service staff. Note: The master password is secret! It mustn’t be used on the control unit side or by the customer, because it also allows changing the values of "administration parameters"...
Page 598 10-16 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Incorrect control of motors when changing parameter values write-protected on the firmware side ("administration parameters")! ⇒ The master password mustn’t be used on the control WARNING unit side or by the customer! Notes on Commissioning Define the IDNs of the group of parameters the values of which are to be write-protected in...
Page 599: 10.2 Device Configuration
10-17 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10.2 Device Configuration Controller Design The drive controllers of the IndraDrive range consist of several modules. We basically distinguish between: • main module → module directly communicates with the master • sub module →...
Page 600: Circuit Board Code
10-18 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Circuit Board Code Brief Description The configurable control section of a drive controller consists of the basic control section circuit board and one or several optional modules (see type code in the documentation "Project Planning Manual for Control Section").
Page 601: Hours-Run Meter
10-19 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Note: The control section is configured at the factory and the configuration is displayed in parameter P-0-1520 for diagnostic purposes (type designation in plain text)! • S-0-0140, Controller type Pertinent Parameters •...
Page 602: Error Memory (Power Section And Control Section)
10-20 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Note: Before delivery, the hours-run meters are set to a defined value at the factory. They can therefore indicate the total runtime of a component in field duty. Error Memory (Power Section and Control Section) Brief Description In the drive, all errors occurred are recorded in an error memory on the control section.
Page 603: 10.3 Diagnostic System
10-21 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions The parameters P-0-0192 and P-0-0193 have a stack structure and contain, in chronological order, the diagnostic message numbers or the counts of the operating hours counter of the last 50 errors that occurred. Note: The count of the operating hours counter at the time the last error occurred is entered at the top of parameter P-0-0193 and...
Page 604 10-22 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 The following categories of diagnostic messages are differentiated (kinds of diagnostic messages): • errors • warnings • commands/command errors • status displays/operating states Generally, the current diagnostic message with the highest priority is displayed or stored at the following locations in the drive: •...
Page 605 10-23 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions An overview of all diagnostic messages and their meanings is included in the documentation "Troubleshooting Guide" (description of diagnostic messages). Structure of a Diagnostic Message Every diagnostic message consists of • diagnostic message number and •...
Page 606: Status Classes, Status Displays, Control Parameters
10-24 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Diagnostic Messages in Plain Text The diagnostic message in plain text contains the diagnostic message number followed by the diagnostic text. It can be read via the S-0-0095, Diagnostic message parameter and directly displayed on an operator interface as a language-dependent description of the drive status.
Page 607 10-25 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Status Classes Brief Description The drive differentiates between 3 states (error, warning and message) for which there is status information. To make the status information available there are so-called status class parameters (S-0-0011, S-0-0012, S-0-0013) that contain the respective status bits.
Page 608 10-26 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 • S-0-0012, Class 2 diagnostics (status parameter for drive warnings) • In case a drive warning occurs, the bit assigned to the warning is set in parameter S-0-0012. A separate bit is assigned in S-0-0012 to warnings defined according to SERCOS.
Page 609 10-27 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions The figure below illustrates the principle of masking by means of an example: S-0-0012, Class 2 diagnostics S-0-0012 at last read access & S-0-0097, Mask class 2 diagnostics unequal 0 ? setting change bit in drive status word Fig.
Page 610 10-28 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Notes on Commissioning The figure below illustrates the handling of the change bits in the status word and of the status class parameters: reading S-0-0135, Drive status word drive error drive error ? (S-0-0135;...
Page 611 10-29 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions The following parameters are available for function-related status display: • S-0-0014, Interface status This parameter displays the status of the communication phase transition and the cyclic communication. • S-0-0135, Drive status word This is the status word of the master communication (SERCOS) and contains all essential status information for the master.
Page 612: 10.4 Control Panel Of The Indradrive Controllers
10-30 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 • S-0-0335, Message ’n command > n limit’ • S-0-0336, Message In position • S-0-0337, Message ’P >= Px’ • S-0-0341, In-Position coarse message • S-0-0342, Target position reached • S-0-0343, Status "Interpolator halted" •...
Page 613: Functional Description
10-31 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 8-digit display F4002 Enter "Down" "Up" buttons DG0001v1.fh7 Fig. 10-10: Standard control panel with display and control elements (example of display) Functional Description Standard Displays The display of the IndraDrive controller automatically shows: •...
Page 614 10-32 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 number of the drive in the bus system of the master communication 8-digit display ready for operation drive ready drive enable drive interlock Drive Halt drive shutdown drive check Fig. 10-12: Operating status displays 8-digit display C0101 number of the drive in the...
Page 615 10-33 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Priorities of Display The current drive status is displayed with highest priority. number of the drive in the bus system of the master communication 8-digit display F4002 error message E2025 warning C0901 command error command...
Page 616 10-34 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 "Up" "Down" button button "Enter" button type designation of FWA-INDRV*-.. S-0-0030 firmware "Esc" button "Up" "Down" button button "Enter" button operating hours counter XXXXX.XX P-0-0191 power section "Esc" button "Up" "Down" button button "Enter"...
Page 617 10-35 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Starting from the extended display it is possible to activate commands Command Inputs and make settings: • set the drive address (drive number in the bus system of the master communication) •...
Page 618 10-36 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 ...other commands... "Up" "Down" button button "Enter" button "Enter" button "Set absolute 2.5 C03? C03 act. "Esc" button measuring" command autom. return "Up" "Down" button button "Enter" button "Enter" button P-4090 0 C07_0act "Load defaults "Esc"...
Page 619: Notes On Commissioning
See also "Initial Commissioning/Serial Commissioning" in chapter "Commissioning" Note: The MMC commands can be started via the control panel. This is especially advantageous when replacing devices! Note: It is only allowed to use MMCs by Bosch Rexroth (type designation PFM02.1-0016-FW)! DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 620: Mmc Folder Structure
10-38 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Pertinent Parameters • P-0-4072, C2900 Command Firmware update from MMC • P-0-4091, C2500 Copy IDN from optional memory to internal memory • P-0-4092, C2600 Copy IDN from internal memory to optional memory Pertinent Diagnostic Messages •...
Page 621: Firmware Update With Mmc
10-39 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Note: When updating the firmware via MMC make sure that the folder "Firmware" only contains one file with the extension ".ibf". This folder may contain other files but not with the extension ".ibf"! Folder "Parameters"...
Page 622 10-40 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 This requires a PC with an adapter to plug in and activate the MMC as Firmware Update with PC "alternate data carrier". The new firmware has to be available on a data carrier of the PC as a file with the extension ".ibf".
Page 623: Notes On Commissioning
10-41 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Notes on Commissioning Firmware Update via Stationarily Plugged MMC Sequence of firmware update with PC: Firmware Update with PC 1. Put MMC delivered for firmware update in MMC adapter of PC. 2.
Page 624 10-42 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Firmware Update via Temporarily Plugged MMC Note: With PC check whether the folder "Firmware" on the MMC contains the required file for firmware update! Firmware update via temporarily plugged MMC: 1. Switch controller on. After boot phase is over (display reads "P-1") or in communication phase P2 put MMC with firmware update file into respective slot ("hot plug").
Page 625: 10.6 Firmware Update
10-43 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Note: In the case of drives with absolute value encoder and modulo format, the position data reference has to be established again after having loaded the parameter values saved after initial commissioning, even if the actual position values are signaled to be valid via S-0-0403, Position feedback value status! Diagnostic Messages...
Page 626: 10.7 Notes On How To Replace The Devices
How to Replace Supply Units Identify device to be replaced by means of type plate; procure supply unit Procure Replacement Device of same type from Bosch Rexroth! See also documentation of the respective supply unit Fill Out Fault Report A fault report form to be copied can be found in the documentation of the respective supply unit.
Page 627 IndraDrive controllers are delivered completely with the control section and should be replaced completely, too. Only Bosch Rexroth service engineers or especially trained users are allowed to replace the control section separately. Only service engineers are allowed to replace optional modules of the control section.
Page 628 10-46 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 A fault report form to be copied can be found in the documentation Fill Out Fault Report "Project Planning Manual for Power Sections or Control Sections". Please copy this fault report, fill it out carefully and completely and enclose it to the defective device! The fault report filled out completely supports quick handling of repair and helps recognizing application-related failure causes.
Page 629 10-47 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Note: The message "Load new Param.?" does not always appear when the MMC hasn’t been plugged (depending on the previous configuration of the replacement device)! Replacing a Device without Stationarily Plugged MMC An MMC temporarily plugged in the controller can be used as update medium for firmware and as update and backup medium for parameter values.
Page 630 10-48 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Put machine into ready-for-operation status again according to machine Put Controller Into Ready-For- Operation Status Again manufacturer’s instructions; then switch on control voltage! Depending on the previous configuration of the replacement device, the following message can appear during the booting phase: •...
Page 631: 10.8 Enabling Of Functional Packages
10-49 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions If it should have been impossible to save the parameter values according Load Parameter Values in Case of Total Breakdown of Device to the list parameters S-0-0192 and P-0-0195 immediately before replacing the device (total breakdown of device), the parameter values saved after initial commissioning have to be loaded.
Page 632: Functional Description
If you use a non-licensed function, any guarantee on the part of Bosch Rexroth will expire. The count of the operating hours counter at the change of access enable for functional packages is stored in parameter P-0-2002.
Page 633 P-0-2002, Oper. hours of contr. sect. at change of functional packages. Note: Bosch Rexroth can at any time provide evidence of non- licensed functional packages that have been enabled subsequently. DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 634 Rexroth. Note: Bosch Rexroth can at any time prove which scope of functions had been activated and thus licensed at delivery. If you use a non-licensed function, any guarantee on the part of...
Page 635: Notes On Commissioning
P-0-2003 for a limited time (max. 2 weeks). If you use a non-licensed functional package permanently, any guarantee on the part of Bosch Rexroth will expire! How to Proceed for Additional For additional licensing proceed as follows: Licensing 1.
Page 636: Monitoring The Enabling Of Functional Packages
5. send purchase order to Bosch Rexroth indicating serial number (from P-0-1511) and desired firmware configuration (from S-0-0030) 6. receive adjusted firmware type plate from Bosch Rexroth to stick it on type plate of control section so that content of S-0-0030 complies with firmware description on type plate If there hasn’t any functional package been previously enabled by the...
Page 637: 10.9 Extended Diagnostic Possibilities
10-55 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions 10.9 Extended Diagnostic Possibilities Monitoring Function Brief Description Note: The so-called "monitoring function" implemented in the drive is for internal use only or can be used as an extended possibility of diagnosis in the case of error. The monitoring function makes the following possibilities available: •...
Page 638: Logbook Function
10-56 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 In order to get to the monitoring mode, now enter "mon" If successful, the drive responds with "INDRAMAT IMON166 V1.3 May 27 2002 [? = Help ]" as a header with dark background and the prompt "HPC> ". Note: The monitoring function was started! The monitor structure is organized in menus.
Page 639: Patch Function
10-57 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Fig. 10-22: Logbook entries (example) Note: Each time the control section is switched on "0xFFFFFFFF" is entered in P-0-0478 as a separator in order to mark the "new start". The entries in P-0-0479 contain the operating hours of the control section in seconds at the time of the respective event.
Page 640 10-58 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 • P-0-0480, Patch function 1, source pointer Pertinent Parameters • P-0-0481, Patch function 1, attribute • P-0-0482, Patch function 1, bit mask • P-0-0483, Patch function 1, exponent • P-0-0485, Patch function 1, display •...
Page 641 10-59 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions a binary number. When selecting "BOOL" as the display type, "1" is output when a value unequal zero was read, otherwise "0" is displayed. The processing of the values read is illustrated on the diagram in Fig. "Sequence diagram of the patch function "read storage location"".
Page 642 10-60 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 memory address (P-0-0480 / P-0-0486) source TYPE INT 2 INT 1 FLOAT 4 FLOAT 8 INT 4 sign-correct sign-correct =DoubleToFLOAT() cast cast intermediate intermediate memory memory ulong float &= mask * 10^(-exponent) (P-0-0482 / P-0-0488) (P-0-0483 / P-0-0489) =(long)
Page 643 10-61 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions data address integer float (P-0-0485 / P-0-0491) DEZoVZ DEZmVZ BOOL FLOAT display type =(long) =(float) &= mask * 10^(exponent) (P-0-0482 / P-0-0488) (P-0-0483 / P-0-0489) intermediate intermediate memory memory ulong float =(ushort) =(uchar) =FloatToDouble()
Page 644: 10.10 Oscilloscope Function
10-62 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 10.10 Oscilloscope Function Brief Description The oscilloscope function can be used to record drive-internal and external signals and status variables (parameter contents). This function can be effectively used both for initial commissioning and debugging. Its functionality can be compared to that of a 4-channel oscilloscope.
Page 645 10-63 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Pertinent Parameters • P-0-0028, Oscilloscope: control word Control/Status • P-0-0029, Oscilloscope: status word • P-0-0031, Oscilloscope: time resolution • P-0-0032, Oscilloscope: size of memory • P-0-0149, Oscilloscope: signal selection list • P-0-0150, Oscilloscope: number of valid measured values •...
Page 646: General Information On The Oscilloscope Function
10-64 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 General Information on the Oscilloscope Function Sequence of a Measurement/Status Diagram recording stopped P-0-0028 bit 0: 1 ® 0 recording not active P-0-0029 bit 0 = 0 start of recording? P-0-0028 bit 0: 0 ® 1 trigger error internal trigger signal P-0-0037 bit 0 = 0...
Page 647 10-65 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Configuring the Measured Value Channels A measured value channel is configured by inputting the IDN of the desired parameter in the respective signal selection parameter: • P-0-0023, Oscilloscope: signal selection 1 •...
Page 648: Trigger Function
10-66 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Note: Using the patch function is only possible with information about the structure of the internal data memory; therefore, this function can be used effectively only by the developers of the IndraDrive firmware.
Page 649 10-67 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Note: If there isn’t any valid trigger signal available when the oscilloscope function is activated, bit 7 for "trigger error" is set in parameter P-0-0029, Oscilloscope: status word. The parameter P-0-0026, Oscilloscope: trigger signal selection determines which signal is monitored with regard to the parameterized edge reversal or threshold value.
Page 650 10-68 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 trigger edge negative (P-0-0030; bit 1 set) trigger level (P-0-0027) time resolution (P-0-0031) start of recording (P-0-0028, bit 0) recording active (P-0-0029, bit 0) trigger start (P-0-0029, bit 1) number of valid measured values (P-0-0150) signal >...
Page 651 10-69 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions trigger edge negative (P-0-0030; bit 1 set) trigger level (P-0-0027) time resolution (P-0-0031) start of recording (P-0-0028, bit 0) recording active (P-0-0029, bit 0) trigger start (P-0-0029, bit 1) number of valid measured values (P-0-0150) signal >...
Page 652: Synchronizing The Measuring Signals Of Several Axes
10-70 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Setting the Trigger Delay Trigger Delay Function Via parameter P-0-0033, Oscilloscope: number of measured values after trigger event it is possible to reach a trigger delay independent of the preset trigger source (external/internal). For this purpose the number of measured values that is to be recorded after the respective trigger event is set in parameter P-0-0033.
Page 653 10-71 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions The transmission of the trigger event via the master causes a delay Trigger Control Offset (P-0-0035) between the detection of the trigger event and the release of the trigger. This delay is measured by drive 1 (master drive) and stored in parameter P-0-0035, Oscilloscope: control offset.
Page 654: Parameterizing The Oscilloscope Function
10-72 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Upon successful comparison of trigger signal and trigger condition, bit 0 is Status of Internal Trigger (P-0-0037) set in parameter P-0-0037, Oscilloscope: internal trigger signal (trigger status) but the trigger is not released. It is thereby possible for the master to signal the trigger event via the real-time status and control bits to several drives at the same time and to release the trigger.
Page 655: Diagnostic And Status Messages
10-73 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Time Resolution of Oscilloscope Parameter P-0-0031, Oscilloscope: time resolution determines the time Function intervals in which measured values are recorded (sampling rate). It is possible to select the time resolution on the time base of the position loop clock (T = N*T osci...
Page 656: 10.11 Serial Communication
10-74 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 10.11 Serial Communication Overview of Serial Communication The serial interface of the drive controller is used as a universal medium of communication for different services. It can be used for master communication (in addition to SERCOS), for reading and writing parameters, for replacing the firmware, for locating errors and for other services.
Page 657 10-75 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Interface Mode The serial interface can optionally be operated in the • RS232 mode or • RS485 mode. Note: Communication via RS485 is only possible in conjunction with an external RS232/485 converter. Depending on the mode, it is necessary to use different cables (see Project Planning Manual).
Page 658: Functional Principle Independent Of Protocol
10-76 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Functional Principle Independent of Protocol Basic State After Applying the Control Voltage After the control voltage has been applied the serial communication in the drive is in the "passive mode". In the passive mode communication is impossible.
Page 659 10-77 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Communication via RS232 Interface The RS232 interface is particularly intended to be used for connecting a PC with installed "DriveTop" commissioning tool. • transmission rates from 9600 to 115,200 Baud Features •...
Page 660 10-78 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Communication via RS485 Interface The communication via the RS485 interface allows realizing a serial bus with the following data: • it is possible to connect up to 31 drives with one bus master Features •...
Page 661 10-79 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Parameterization and Diagnosis via a PLC • parameters can be changed via PLC (e.g. adjustment of positioning Advantages for Application blocks) • extended diagnostic possibilities for the PLC by taking over the error code RS485 bus RS232/...
Page 662 10-80 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Error Messages in the Case of Serial Communication The error codes defined in the SERCOS interface specification are used for the different errors (see "Specification SERCOS interface", section 7.4.2.3 "Service channel error messages"). These codes are also used in the case of incorrect access to control and system parameters.
Page 663: Communication With Ascii Protocol
10-81 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Communication with ASCII Protocol Addressing a Specific Bus Node In order to start the communication with a bus node, this node has to be specifically addressed by a CHANGE DRIVE command (CD command) indicating the drive address.
Page 664 10-82 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Write Access to a Parameter As a basic principle, write access to a parameter is carried out as follows: IDN of the parameter, data block element number, w, operating data (Carriage Return) After the writing operation the drive responds with its prompt again.
Page 665 10-83 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Read Access to a Parameter As a basic principle, read access to a parameter is carried out as follows: IDN of the parameter, data block element number, r (Carriage Return) The drive then displays the content of the data block element that was addressed.
Page 666 10-84 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Write Access to List Parameters There is a number of list parameters in the drive. When writing, these parameters have to be addressed in modified form: Step 1 Communication with drive not Send request e.g.: possible "P-0-4007,7,w,>"(CR) (">"...
Page 667 10-85 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions part 1/B (previous page) Error occurred during Next character in receiver parameter access. buffer "#"? Error code: #xxxx part 1/A (previous page) More elements? Step 8 Close list, send end character: "<" (CR) Step 9 character received Character sequence ":>"...
Page 668 10-86 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Read Access to List Parameters The read access to list parameters is carried out in the same way as in the case of other parameters. The drive, however, provides all list elements as its answer.
Page 669 10-87 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Activating a Command In the drive controller a number of commands can be activated the execution of which takes place automatically within the controller. The following command parameters are available: • switching between operating mode and parameter mode: •...
Page 670 10-88 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 A command is activated as follows: Step 1 communication with drive not Send request possible e.g.: "P-0-0162,7,w,11b" (CR) -> check address -> check setting -> check connection Step 2 Drive received character. Drive repeats request (echo) Time out ? character sequence ":>"found in...
Page 671 10-89 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions part 1/B (previous page) partl 1/A (previous page) Command status = Command status = Command successfully Command completed with error completed Clear command: "0" written to ID number e.g.: "P-0-0162,7,w,0" (CR) FD5007B1.WMF Fig.
Page 672 10-90 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 bit 0: 0 : command not set in the drive reserved reserved 1 : command set in the drive bit 1: 0 : command execution interrupted in the drive 1 : command execution enabled in the drive bit 2: 0 : command correctly...
Page 673: Communication With Sis Protocol
10-91 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Input: S-0-0328,7,w,> (CR) 1 (CR) bit1 2 (CR) bit2 etc. <(CR) E01:> Errors Messages in the Case of ASCII Communication The following error messages specifically occur in the case of communication with ASCII protocol: Error code Description 0x9001...
Page 674 10-92 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Structure of the Telegram Header The SIS telegram header consists of a static and a dynamic part. Static part of the telegram header The static part of the telegram header contains 8 byte and is contained in each SIS telegram.
Page 675 10-93 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Dynamic part of the telegram header The dynamic part of the telegram header can contain up to 8 byte. The telegram number (‘PaketN‘ byte), when it was declared in the control byte (‘Ctrl‘...
Page 676 10-94 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Structure of the Useful Data Header Note: The structure of the useful data header depends on the direction of transmission. The useful data headers described below are only valid for the services 0x80 … 0x8F. In the structure of the useful data header we distinguish between command telegram and reaction telegram.
Page 677 10-95 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions parameter type parameter number bit 0-11: parameter number (0*0001...0*FFF) bit 12-14: parameter set (0...7) 0000 S-parameter (drive) bit 15: parameter type* 0001 P-parameter (drive) 0010 not used in the drive bit 0-2: parameter type* 0100 not used in the drive 1000 not used in the drive...
Page 678 10-96 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 useful data header, the transmitter address or the service have changed. The command telegram contains telegram error subaddresses. The routing of telegrams is not supported by the slave. Useful data are missing in the command telegram error telegram.
Page 679 10-97 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Communication via SIS Protocol Addressing a Drive In the case of communication with SIS protocols we distinguish between command telegrams and reaction telegrams, according to the direction of transmission. A node can only be addressed under its address (see program module) when a specific telegram format (frame) is observed.
Page 680 10-98 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Supported Services and Subservices Description Subservices Subservice description Notes service 0x00 node identification 0x01 reading SIS version subservice is implemented but not active 0x02 reading firmware version supplies content of S-0-0030 0x03 reading controller type supplies content of S-0-0140...
Page 681 10-99 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Service 0x01 Canceling a Data Transmission With this service it is possible to cancel a sequential telegram sequence. The sequential telegram channel is unlocked with the "Canceling a data transmission" service when the device address and the service to be cancelled correspond with the sequential telegram sequence.
Page 682 10-100 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Example: Reading the S-0-0044, Velocity data scaling type parameter from the drive with the address "3". The parameter has the value "0x0042". Command Telegram: param. parameter no. control device tel. header byte address type...
Page 683 10-101 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions The answer to a write access contains the following data: • In the Ctrl byte of the telegram header bit 4 is set to "1" in order to identify it as a reaction telegram. •...
Page 684 10-102 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Service 0x81 Reading a List Segment • Enter 0x81 in the service of the telegram header. Command Telegram • Enter the parameter type and parameter no. of the parameter to be read in the useful data header.
Page 685 10-103 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Examples of Application (Sequential Telegrams) Service 0x8F Write Access (with Sequential Telegrams) Parameters or elements longer than243 byte are read in several steps. The transmission of such lists is carried out in several steps. Bit 2 in the control byte marks the current transmission step as the current or last transmission.
Page 686 10-104 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Last step: .... control device param. parameter no. tel. header 243 data bytes type (LSB) (MSB) byte address useful data useful data header Ta0013 f1.fh7 Fig. 10-73: Writing with sequential command telegram (step3) device status control...
Page 687 10-105 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions control device param. parameter no. tel. header byte address type (LSB) (MSB) useful data header Ta0007f1.fh7 Fig. 10-77: Sequential command telegram2 ..status control device tel. header 245 data bytes address byte byte...
Page 688 10-106 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Errors in the Case of SIS Communication Errors During Parameter Transmission If an error occurs during the parameter transmission, an "error during parameter transmission" is signaled in the status byte. The first two bytes of the useful data transmit an error code that describes the kind of error.
Page 689 10-107 MPH-02, MPB-02, MPD-02 Handling, Diagnostic and Service Functions Example: Write access to the write-protected parameter S-0-0106, Current loop proportional gain 1. The master tries to write the value "0" to the parameter. The drive acknowledges with the "0x7004" ("Data cannot be changed") error message.
Page 690 10-108 Handling, Diagnostic and Service Functions MPH-02, MPB-02, MPD-02 Notes DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 691: Commissioning
11-1 MPH-02, MPB-02, MPD-02 Commissioning Commissioning 11.1 Commissioning Motors Checking the Installation/Assembly Checking the Assembly Check the assembly of the IndraDrive controllers and supply units as well as motors with regard to correct implementation according to the data in the "Project Planning Manual" product documentation. Checking the Installation Check the wiring of control cabinet and machine with regard to correct implementation according to the data in the Project Planning...
Page 692 As a matter of principle, commissioning can be carried out by means of Possibilities of Commissioning • the "DriveTop" commissioning tool by Bosch Rexroth connected to the drive via SERCOS interface or via a serial interface, • the control panel of the controller and digital and analog input signals, •...
Page 693 11-3 MPH-02, MPB-02, MPD-02 Commissioning Notes on Commissioning Initial Start of the Motor See "Initial Start in "Easy Startup" Mode" See "Initial Start with the DriveTop Commissioning Tool" See "Commissioning Machine Axes" Providing Drive Functions After initial commissioning has been carried out the defined application- Initial Commissioning specific parameter values have to be saved.
Page 694: Initial Start In "Easy Startup" Mode
11-4 Commissioning MPH-02, MPB-02, MPD-02 Note: The incorrect actual position value generated in this case cannot be detected on the drive side because otherwise unjustified errors would be generated in service cases when devices are replaced! See also "Notes on How to Replace the Devices" in chapter "Handling, Diagnostic and Service Functions"...
Page 695 11-5 MPH-02, MPB-02, MPD-02 Commissioning Note: For controllers with control section type designations "CSB01.1N-FC-..." (BASIC OPENLOOP) and "CSB01.1N-AN- ..." (BASIC ANALOG) the "easy startup" mode is the standard and does not have to be activated! also "Analog Interface" chapter "Master Communication"...
Page 696 11-6 Commissioning MPH-02, MPB-02, MPD-02 Sequence for activating the "easy startup" mode via the control panel: automatic return "Enter" button 0,1*Nmax Easy-ON 9x"Down" 9x"Up" button button 1*Nmax It is possible to switch power on! "Up" button "Esc" button "Enter" button 2.3 Easy V-control with Vmax=xxxRpm...
Page 697 11-7 MPH-02, MPB-02, MPD-02 Commissioning element 1, with negative sign to element 2 of P-0-1206, Memory of velocity command values Note: The assignments are made in P-0-0300, Digital I/Os, assignment list, P-0-0301, Digital I/Os, bit numbers and P- 0-0302, Digital I/Os, direction. •...
Page 698 11-8 Commissioning MPH-02, MPB-02, MPD-02 It is possible to switch power on! e.g.: "Enter" button automatic return 2.1 Adr. 2.Comand to standard Adr. display commands/settings "Down" button "Up" button "Enter" button 2.8 >CP4 => CP 4 "Enter" button 1.Er.Anz extended display standard display activating the explanation:...
Page 699 11-9 MPH-02, MPB-02, MPD-02 Commissioning Note: The following has to be observed for step 2: • During the initial commissioning of a motor with encoder data memory the controller requests "load controller parameters" after activation of the "easy startup" mode. This is shown on the display by "RL"...
Page 700: Initial Start With Drivetop Commissioning Tool
After complete and correct assembly and wiring of the drive or the drives it makes sense to establish the operatability. The easiest way to do this by means of initial start in velocity-controlled operation. For commissioning IndraDrive drives Bosch Rexroth makes available a DriveTop PC program with the product name "DriveTop".
Page 701 11-11 MPH-02, MPB-02, MPD-02 Commissioning Functional Description Before the initial start of the motor, the steps illustrated below have to be followed: basic parameter values Start: controller prepared for of firmware were loaded, initial commissioning drive is in parameter mode ("P2") changing to operating mode "RL"...
Page 702 11-12 Commissioning MPH-02, MPB-02, MPD-02 Notes on Commissioning in Conjunction with DriveTop and SYSDA02.2 The steps for initial start illustrated in the figure (above) are described below as a detailed sequence for a Rexroth motor in conjunction with DriveTop and SYSDA02.2 (SERCOS interface): Basic Actions 1.
Page 703 11-13 MPH-02, MPB-02, MPD-02 Commissioning 11. If "RL" is not flashing on right side next to drive address at controller Rexroth Motor with Motor Encoder without Data Memory display, a five-digit diagnostic message text appears in most cases. In this case, motor does not have an encoder memory. Therefore, there aren’t any motor-specific parameter values made available on motor side.
Page 704: 11.2 Commissioning Machine Axes
The best way to do this is the initial start of the drive with the PC-based commissioning tool "DriveTop" by Bosch Rexroth (see "Initial Start with the DriveTop Commissioning Tool").
Page 705 11-15 MPH-02, MPB-02, MPD-02 Commissioning Schematic Sequence Commissioning procedure as a sequence of steps: start: operatability of initial start, drive drive confirmed folllows the command value configuring external measuring systems configuring the mechanical drive system determining the physical status variables configuring the motor holding brake setting the...
Page 706 11-16 Commissioning MPH-02, MPB-02, MPD-02 To explain the individual commissioning steps we refer to the Notes on Commissioning for the respective subject, if possible. Detailed information on the parameters is only contained in the separate documentation "Rexroth IndraDrive, Parameter Description" (reference list of all IndraDrive parameters).
Page 707 11-17 MPH-02, MPB-02, MPD-02 Commissioning Configuring the Holding Brake If the motor to be controlled is equipped with a holding brake or the controller has to control an external holding brake (for kit motors, if necessary), make the following settings: •...
Page 708 11-18 Commissioning MPH-02, MPB-02, MPD-02 On the user-side, the limitation of the actual velocity value to the lower Limiting the Actual Velocity Value value of • 1.125 * S-0-0091, Bipolar velocity limit value and • S-0-0113, Maximum motor speed are available on the user side. See also "Torque/Force Control"...
Page 709 11-19 MPH-02, MPB-02, MPD-02 Commissioning • settings for the determined primary or secondary operating modes See description of the respective operating mode in chapter "Operating Modes" With regard to the master communication interface used by the control master it is possible to make presettings for: •...
Page 710 11-20 Commissioning MPH-02, MPB-02, MPD-02 Notes DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 711: Index
12-1 MPH-02, MPB-02, MPD-02 Index Index absolute encoder emulation 9-19, 9-24 restrictions 9-27 absolute measuring see establishing position data reference for absolute measuring systems absolute positioning 7-47 acceleration feedforward 7-14 acknowledging drive enable 4-38 activating a command 10-87 additional licensing 10-53 address assignment 4-1 address setting via control panel 4-1...
Page 712 12-2 Index MPH-02, MPB-02, MPD-02 in drive-internal interpolation 7-23 in position control 7-18 in torque/force control 7-5 commands 1-4 commissioning 11-1 machine axes 11-14 motors 11-1 communication phases 4-11 communication via RS232 interface 10-77 communication via RS485 interface 10-78 communication with SIS protocol 10-91, 10-97 commutation offset determination by calculation method with Hall sensor box 6-23 determination by measuring method 6-23...
Page 713 12-3 MPH-02, MPB-02, MPD-02 Index drive control 6-1 drive control commands 1-4, 4-3 drive controllers control sections 1-11 overview 1-10 power sections 1-11 drive enable 4-38 drive error reaction see error reaction drive firmware, overview 1-1 drive functions 8-1 extended drive functions 9-1 overview 1-17 Drive Halt 8-1 drive internal interpolation...
Page 714 12-4 Index MPH-02, MPB-02, MPD-02 logbook function 10-56 monitoring function 10-55 patch function 10-57 extended drive functions 9-1 fault report 10-44, 10-46 fiber optic cable check 4-36 connection to SERCOS interface 4-34 field weakening operation 6-12 field-oriented closed-loop current control 6-10 fine interpolation in velocity control 7-12 firmware types 1-22...
Page 715 12-5 MPH-02, MPB-02, MPD-02 Index interrogating the command status 10-89 inverters 6-88 IxR Boost 6-7 jerk limitation in velocity control 7-12 jogging 7-33 kinds of commands 1-4, 4-3 kinds of diagnostic messages 10-22 language selection 10-24 limit switch 6-72 see software limit switch limitations 6-63 current and torque limitation (closed-loop) 6-64 current and torque limitation (open-loop) 6-64...
Page 716 12-6 Index MPH-02, MPB-02, MPD-02 motor parameter values, determining for third-party motors 5-31 motor parameters 5-2 motor temperature monitoring 5-2 motors general information 5-1 hardware data 5-2 Rexroth housing motors with encoder data memory 5-19 supported motors 1-15 third-party motors 5-25 MultiMediaCard 10-6, 10-37 NC reaction on error 8-44 non-volatile data memories 1-2...
Page 717 12-7 MPH-02, MPB-02, MPD-02 Index phase synchronization with real/virtual master axis 7-102 position control block diagram 7-16 command value processing 7-18 diagnostic messages and monitoring functions 7-20 position controller 7-19 position data reference 8-4 establishing for relative measuring systems 8-7 position limit values 6-75 position limitation 6-72 position loop 6-60...
Page 718 12-8 Index MPH-02, MPB-02, MPD-02 sequential block processing 7-60 SERCOS interface 4-32 commissioning the SERCOS interface 4-34 connecting the fiber optic cables 4-34 cyclic data transfer 4-37 drive status word 4-38 master control word 4-37 ring structure 4-34 transmission length 4-35 transmission of non-cyclical data 4-39 transmission rate 4-36 serial commissioning 11-1...
Page 719 12-9 MPH-02, MPB-02, MPD-02 Index transition check commands 4-13 transmission protocols 10-75 travel range limit switch 6-72 travel range limit switches 6-74 trigger event 10-67 U/f characteristic 6-7 update See firmware update use See appropriate use and see inappropriate use using this documentation 1-7 velocity command value reset 8-37 velocity command value reset with filter and ramp 8-38...
Page 720 12-10 Index MPH-02, MPB-02, MPD-02 Notes DOK-INDRV*-MP*-02VRS**-FK01-EN-P...
Page 721: Service & Support
13-1 MPH-02, MPB-02, MPD-02 Service & Support Service & Support 13.1 Helpdesk Unser Kundendienst-Helpdesk im Hauptwerk Lohr Our service helpdesk at our headquarters in Lohr am am Main steht Ihnen mit Rat und Tat zur Seite. Main, Germany can assist you in all kinds of inquiries. Sie erreichen uns Contact us 49 (0) 9352 40 50 60...
Page 722: 13.5 Kundenbetreuungsstellen
Tel.: +49 (0)171 333 88 26 Tel. +49 (0) 9352 40 42 22 Vertriebsgebiet Süd Vertriebsgebiet West Gebiet Südwest Germany South Germany West Germany South-West Bosch Rexroth AG Bosch Rexroth AG Bosch Rexroth AG Landshuter Allee 8-10 Regionalzentrum West Service-Regionalzentrum Süd-West 80637 München Borsigstrasse 15 Siemensstr.1...
Page 723 - Italien Netherlands - Niederlande/Holland Netherlands – Niederlande/Holland Bosch Rexroth S.p.A. Bosch Rexroth S.p.A. Bosch Rexroth Services B.V. Bosch Rexroth B.V. Via Mascia, 1 Via Isonzo, 61 Technical Services Kruisbroeksestraat 1 80053 Castellamare di Stabia NA 40033 Casalecchio di Reno (Bo) Kruisbroeksestraat 1 (P.O.
Page 724 - Tschechien Czech Republic - Tschechien Hungary - Ungarn Poland – Polen DEL a.s. Bosch -Rexroth, spol.s.r.o. Bosch Rexroth Kft. Bosch Rexroth Sp.zo.o. Strojírenská 38 Hviezdoslavova 5 Angol utca 34 ul. Staszica 1 591 01 Zdar nad Sázavou 627 00 Brno 1149 Budapest 05-800 Pruszków...
Page 725 Australia - Australien Australia - Australien China China AIMS - Australian Industrial Bosch Rexroth Pty. Ltd. Shanghai Bosch Rexroth Shanghai Bosch Rexroth Machinery Services Pty. Ltd. No. 7, Endeavour Way Hydraulics & Automation Ltd. Hydraulics & Automation Ltd. 28 Westside Drive...
Page 726 Canada West - Kanada West Mexico Mexico Bosch Rexroth Canada Corporation Bosch Rexroth Canada Corporation Bosch Rexroth Mexico S.A. de C.V. Bosch Rexroth S.A. de C.V. Burlington Division 5345 Goring St. Calle Neptuno 72 Calle Argentina No 3913 3426 Mainway Drive Burnaby, British Columbia Unidad Ind.
Page 728 Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Phone +49 93 52-40-50 60 +49 93 52-40-49 4 1 [email protected] www.boschrexroth.com Printed in Germany R911299225 DOK-INDRV*-MP*-02VRS**-FK01-EN-P...

This manual is also suitable for:

Rexroth indradrive mpb-02 Rexroth indradrive mpd-02

Bosch Rexroth IndraDrive MPH-02 Functional Description

1 System Overview

2 Important Directions for Use

3 Safety Instructions for Electric Drives and Controls

4 Master Communication

5 Motor, Mechanical Axis System, Measuring Systems

6 Drive Control

7 Operating Modes

8 Drive Functions

9 Extended Drive Functions

10 Handling, Diagnostic and Service Functions

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Summary of Contents for Bosch Rexroth IndraDrive MPH-02