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Project Planning Manual | Rexroth IndraDyn T
WARNING
Motor rotating direction
Different effective directions of motor torque and count direction of len‐
coder system cause uncontrolled movements of the motor upon power-
up!
⇒ Safety against uncontrolled movement
⇒ Adjust effective direction of motor torque equal to encoder system count
direction.
Before the encoder polarity test make sure that the following paramter are ad‐
justed
fig. 12-4 "Table polarity parameter" on page
Identity number
S-0-0085
S-0-0043
S-0-0055
Fig.12-4:
Table polarity parameter
The encoder polarity is selected via the parameter
S-0-0277, position encoder type 1 (Bit 3)
Position, velocity and force data must not be inverted when the encoder system
count direction is set:
S-0-0085, Force polarity parameter 0000000000000000
S-0-0085, Velocity polarity parameter 0000000000000000
S-0-0085, Position polarities 0000000000000000
After adjusting the encoder polarity, it must be ensured that the en‐
coder delivers positive signals at a clockwise motor rotation or
negative signals at counterclockwise motor rotation.
To adjust the motor or rotor rotational direction of an IndraDyn T motor depends
on the selected stator design and can be defined via the cable output side on
the stator.
The following figure makes the relation clear:
Electric Drives
| Bosch Rexroth AG
and Controls
235.
Description
Torque /force polarity pa‐
rameter
Velocity-polarity parameter
Position polarities
235/261
Operating Torque Motors
Value
0000000000000000
0000000000000000
0000000000000000
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