Bosch PIN8 N1 Guida alla Risoluzione dei Problemi Scaricare il pdf (Pagina 359)

100

101

MPH-02, MPB-02, MPD-02 Operating Modes 7-53

DOK-INDRV*-MP*-02VRS**-FK01-EN-P

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

(in the example position = 200 of positioning block n-1).

DK000029v01_en.fh7

positioning block

acceptance:

P-0-4060 (bit 0)

in standstill:

S-0-0013,

Class 3

diagnostics (bit 1)

S-0-0419,

Positioning command

acknowledge

end position reached:

P-4061,

Positioning block

status word (bit 4)

P-0-4051,

Positioning block

acknowledgment

P-0-4026,

Positioning block

selection

velocity

profile

S-0-0124,

Standstill

window

180 x

900

positioning block 01

positioning inputs valid

positioning acknowledgment outputs show negated status

of positioning inputs

after valid block acceptance, positioning acknowledgment outputs

show non-inverted status of positioning inputs

positioning block 01

Drive HALT (AH):

S-0-0134,

Master control

word (bit 13)

Fig. 7-31: Relative positioning block with residual path storage

Note: According to master communication, positioning block

acceptance takes place by toggling bit 0 in S-0-0346 or by a 0-

1 edge of bit 0 in P-0-4060.

Reference Position

1 2 ... 354 355 356 357 358 359 360 361 362 363 364 ... 727 728

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Bosch PIN8 N1 Guida alla Risoluzione dei Problemi Pagina 359

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