Bosch Rexroth IndraDrive MPH-02 Functional Description page 238

6-26
Drive Control
Requirements
How to Proceed
Relevant Parameters
Relevant Diagnostic Messages
Example 3, reference point ö (fig. "Measuring the relative position
between primary and secondary part"):
g = 180.0 mm , k = 38.0 mm , l
mx
P-0-0523 = 37.5 mm - g - l
38.0 mm
P-0-0523 = – 720.5 mm
Carrying Out the Measuring Method (Commissioning)
• The determination of the commutation offset can only be used for
synchronous linear motors with absolute encoder (e.g. encoder with
EnDat interface).
• During the setting procedure below the drive must be in the A0013
Ready for power on status.
• The position of the primary part or the slide mustn't have changed
since the relative position of primary and secondary part was
measured.
• The correct value must have been entered in P-0-0018, Number of
pole pairs/pole pair distance.
1. Measure the reference between primary and secondary part.
2. Calculate the value for P-0-0523 with the appropriate formula for the
arrangement; enter the determined value in P-0-0523, Commutation
setting measured value.
3. Select the method by setting the respective bit in P-0-0522, Control
word for commutation setting.
4. Start the P-0-0524, C1200 Commutation offset setting command
in order to carry out the calculation of the commutation offset.
5. The controller enters the determined value in P-0-0521, Effective
commutation offset. If the commissioning mode was activated in
P-0-0522, Commutation setting control word the value from
P-0-0521 is accepted in P-0-0508, Commutation offset and
P-0-3008, Commutation offset, encoder memory, too.
6. The command then has to be reset again!
Parameters for input data:
• P-0-0523, Commutation setting measured value
• P-0-0522, Control word for commutation setting
Command parameters:
• P-0-0524, C1200 Commutation offset setting command
Parameters for output data:
• P-0-0508, Commutation offset
• P-0-0521, Effective commutation offset
• P-0-3008, Commutation offset, encoder memory
Diagnostic messages for command errors:
• C1204 Error in offset calculation
• C1208 No adjustment with asynchronous motor
• C1209 Proceed to phase 4
• C1214 Command only possible with linear synchronous motor
MPH-02, MPB-02, MPD-02
= 540.0 mm
p
- k = 37.5 mm – 180.0 mm – 540.0 mm –
p mx
DOK-INDRV*-MP*-02VRS**-FK01-EN-P