Bosch Rexroth IndraDrive MPH-02 Functional Description page 244

6-32
Drive Control
Synchronous Motors with
Incremental Measuring System
Initial Commissioning of a
Synchronous Motor with
Incremental Measuring System
by Sine-Wave Method
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. Checking
and optimizing P-0-0521 by force or torque measurement at
the axis is recommended!
See also below "Manually Optimizing Commut. Offset Value"
5. In P-0-0522, Commutation setting control word deactivate the
initial commissioning mode by the respective bit! The value in P-0-
0508 resp. P-0-3008 is now write-protected.
Each time the drive is switched on again or the measuring system is
initialized the value stored in P-0-0508 resp. P-0-3008 is accepted in
P-0-0521 and becomes effective as the commutation offset value.
For synchronous kit motors with incremental measuring system the sine-
wave method is automatically started when drive enable is set after the
drive was switched on or after changing from communication phase "P2"
to "P4" ("bb" or "Ab"). The drive is operational only after the commutation
offset has been successfully determined!
Note: The force development of the motor is only guaranteed in a
reproducible way when, at the homing of the axis, the value
stored during initial commissioning with reference to the home
point becomes effective as commutation offset!
1. In P-0-0522, Control word for commutation setting activate in
communication phase "P2" (parameter mode):
• initial commissioning mode and
• sine-wave method
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 sine-wave method by
P-0-0524, C1200 Commutation offset setting command
4. After the current was supplied and the commutation offset value has
been successfully determined this value is stored 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.
Note: If the drive does not find any valid value for P-0-0521 and
aborts the execution of the command with an error message,
modified settings with regard to the search mode can lead to
success:
- If the mechanical axis system shows distinctive friction, the
settings for the search direction in P-0-0522 should be
made for "increase of amplitude with priority".
- If the mechanical axis system shows resonances in the
search range of P-0-0507 and develops heavy noise when
the amplitude is increased, the settings for the search
direction in P-0-0522 should be made for "increase of
frequency with priority".
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P