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Bosch Rexroth CKL Series Commissioning

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Commissioning the CKL Drive
Controller
USL00010
01.2015

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Summary of Contents for Bosch Rexroth CKL Series

  • Page 1 Commissioning the CKL Drive Controller USL00010 01.2015...
  • Page 2 © This document, as well as the data, specifications and other information set forth in it, are the exclusive property of Bosch Rexroth Corp. It may not be reproduced or given to third parties without its consent.

  • Page 3: Table Of Contents

    Motor Encoder Data Reference Motor Encoder Axis Control Parameters Commutation Settings Easy Startup Mode Drive Error Diagnostics Determine Commutation Offset Enable Drive Power Verify Commutation Offset Home Axis Stop Initial Commissioning Mode Save/Backup Parameters Move Axis Optimize Control Loops 01.2015, USL00010, Bosch Rexroth Corp.

  • Page 4: General

    • This document is intended to be a guideline for initial axis commissioning of the CKL Linear Motor Module. • The parameters found within are based solely on the use of Bosch Rexroth IndraDrive Cs servo drives. • For 3rd Party Servo Drives, while items on the initial parameter set may be the same, expect minor adjustment requirements depending on the Drives‘...

  • Page 5: Commissioning Flowcharts

    Digital   o r   n one   Analog   Analog   H all   Digital   H all   o r   w ithout   H all   Proceed to Part 2 for relevent Hall Sensor type. 01.2015, USL00010, Bosch Rexroth Corp.
  • Page 6 Yes,   w ith   O ptimized   P arameters   Yes,   w ith   Basic   Save   O ptimized   P arameters     Parameters   Finished   I nitial   C ommissioning   Bosch Rexroth Corp., USL00010, 01.2015...
  • Page 7 Yes,   w ith   O ptimized   P arameters   Yes,   w ith   Basic   Save   O ptimized   P arameters     Parameters   Finished   I nitial   C ommissioning   01.2015, USL00010, Bosch Rexroth Corp.

  • Page 8: Preconditions

    Software • IndraWorks Ds 13VRS (recommended) • IndraWorks Ds 12VRS (possible with caution*) 4.1.3 Operating System • Windows 7 (recommended) • Windows XP (possible with caution*) NOTE: Caution* = software bugs, unexpected behavior, limited tests Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 9: Network Connection

    Steps for configuring the network connection: 1. Right mouse button click on Local Area Connection and select Properties in the pop-up menu. 2. Select Internet Protocol (Windows XP) or Internet Protocol Version 4 (Windows 7). 3. Press the Properties button. 01.2015, USL00010, Bosch Rexroth Corp.
  • Page 10 NOTE: If the IP address of the IndraDrive is 192.168.0.1, then the PC’s first three dot-decimal numbers must be the same (for example, 192.168.0.x). The fourth number (x) must be different from that of the IndraDrive’s IP address, and be a number between 0 to 255. Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 11: Firmware

    Firmware 6 Firmware 6.1 Check compatibility and update IndraDrive firmware 6.1.1 Steps for checking firmware compatibility: 1. Select the Help pull-down menu, then select Info. 2. Verify that firmware version MPx-17VRS or later is supported. If not, install a later release of IndraWorks Ds. 01.2015, USL00010, Bosch Rexroth Corp.
  • Page 12 3. In the Explorer tree, right mouse button click on the Axis and select Properties in the pop-up menu. 4. Verify that firmware version MPx-17V08 or later is on the IndraDrive. If not, download new firmware to the drive. Bosch Rexroth Corp., USL00010, 01.2015...
  • Page 13 FWA-INDRV*-MPE-… HCS01.1E-…-B-ET-… BASIC / Multi-Ethernet FWA-INDRV*-MPB-… HCS01.1E-…-A-CC-… ADVANCED / SERCOS III-Master Cross Comm FWA-INDRV*-MPC-… 3. Press the Download button, the Progress bars will indicated download progression. 4. When download is complete, press the Close button. 01.2015, USL00010, Bosch Rexroth Corp.

  • Page 14: Language Selection

    • 1 = English • 2 = French • 3 = Spanish • 4 = Italian If necessary, the IndraWorks user interface language setting can be changed by selecting Tools → Options → Environment → Language. Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 15: Master Communication

    Therefore, for initial drive commissioning select No master comm. activated or Sercos III to commission the drive axis, then select EtherCAT master communication for application programming/operation. 3. Reboot the drive to activate the changes. 01.2015, USL00010, Bosch Rexroth Corp.

  • Page 16: Power Supply

    NOTE: For all CKL linear motor sizes, allowed mains supply 1- or 3-phase AC 110-230V connected to drive. If a drive for higher voltage is used (e.g. 3 ~ 400V with HCS01.1E- W00xx-A-03-…), please use a transformer and limit bleeder to 390V. Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 17: Scaling/Mechanical System

    3. Select negation: no = factory default = motor effective force and encoder positive counting directions 4. (a) Press the Extended button or (b) select Scaling/Units Extended in the Explorer tree 5. Select extended options, e.g. change velocity scaling unit from factory default mm/min to mm/s 01.2015, USL00010, Bosch Rexroth Corp.
  • Page 18 • 4kg: for CKL 110 with motor primary MCP030 • 5kg: for CKL 145 with motor primary MCP040 • 6kg: for CKL 200 with motor primary MCP070 Add external payload if known. Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 19: Limit Values

    • Error = axis fault, drive power disabled 4. Enter Velocity limit values (limit is not active if value = 0) 5. Enter acceleration and jerk limit values (limit is not active if value = 0) 01.2015, USL00010, Bosch Rexroth Corp.
  • Page 20 NOTE: Per parameter S-0-0086, for linear kit motors, the reference value (100% value) also corresponds to the continuous torque at standstill or the continuous force at standstill. In this case, the cooling factor is “1.0” because the cooling type is invariable (P-0-0640 is inactive). Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 21: Motor

    1. If the Date of motor database is outdated, proceed to step 2. 2. Select the Diagnosis / Service pull-down menu, then select Drive Database. 3. Press the Update button (must have direct internet connection, if not, reconfigure your Network Connection properties). 01.2015, USL00010, Bosch Rexroth Corp.
  • Page 22 Motor 12 Motor (continued) 12.2 Configure linear motor from database 12.2.1 Steps for configuring the linear motor from database: 1. In the Explorer tree, select Motor. 2. Select Rexroth kit motor in the Motor category box drop-down list. Bosch Rexroth Corp., USL00010, 01.2015...
  • Page 23 L0 = digital Hall, L1 = analog Hall, N0 = without Hall xxxx: 0120, 0180, 0300 = secondary part length mm, select any value 4. Press the DB → Drive button to download the motor parameters to the drive. 01.2015, USL00010, Bosch Rexroth Corp.
  • Page 24 Motor 12 Motor (continued) 12.2.1 Steps for configuring the linear motor from database: (continued) 5. Select Mounting method B. 6. Press the OK button. 7. You can now see that the motor parameters in the drive are the same as in the database. Bosch Rexroth Corp., USL00010, 01.2015...
  • Page 25 CKL 200 237 mm MCP070C-V300 4.18 297 mm MCP070D-V300 5.25 417 mm MCP070F-V300 7.38 3. Parameter S-0-0111 value is now updated in the drive for the specific CKL system size. 4. Close the Parameter editor. 01.2015, USL00010, Bosch Rexroth Corp.

  • Page 26: Motor Encoder

    0.002 NOTE: *Resolution drive parameter is defined as follows: • analog encoder: 1-sine period, drive then interpolates up to maximum 13-bits (8192) • digital encoder: 1-square wave, drive then evaluates the 4-quadrants (=Encoder resolution) Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 27: Data Reference Motor Encoder

    After execution of the homing command, the actual physical position of the axis is set to the user specified Reference distance in step 2. Therefore, on subsequent homing, the axis reference may differ depending on where the axis is actually “resting”. 01.2015, USL00010, Bosch Rexroth Corp.

  • Page 28: Axis Control Parameters

    MCP030D-V180 (tbd.) (tbd.) (tbd.) CKL 145 244 mm MCP040C-V300 0.063 364 mm MCP040E-V300 0.073 484 mm MCP040G-V300 0.136 CKL 200 237 mm MCP070C-V300 0.057 20.7 297 mm MCP070D-V300 0.058 20.7 417 mm MCP070F-V300 0.059 28.5 Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 29: Commutation Settings

    – Value = 62, for CKL 110/145/200 with motor primary MCP030/40/70 If not using a Hall sensor: • Not applicable, ignore this step. For detailed information, see the Rexroth IndraDrive MPx-17 (or later) Functions Applications Manual sections “Commutation Setting” and “Sine-Wave Method”. 01.2015, USL00010, Bosch Rexroth Corp.

  • Page 30: Easy Startup Mode

    2. Select Engineering Port (TCP/IP). 3. Press the Start Easy Startup Mode button to put drive in “Drive Ready” state (Ab). 4. If successful, Easy startup mode status is active and the Enable button is selectable. Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 31: Drive Error Diagnostics

    4. After checking possible remedy, set drive to Parameter mode. 5. Clear error. 6. Re-try Start Easy Startup Mode (PM → OM). 7. If Axis status indicates another error, repeat steps 3 to 6. 01.2015, USL00010, Bosch Rexroth Corp.
  • Page 32 2. In the Error memory tab, the most recent drive errors are shown at the top of the list. 3. Select the Help icon and search for the error code (e.g. F2019) for further help. Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 33: Determine Commutation Offset

    4. Repeat step 2 multiple times to verify that the commutation offset has a stable value, e.g. within approximately ±10% of measured value. For detailed information, see the Rexroth IndraDrive MPx-17 (or later) Functions Applications Manual sections “Commutation Setting” and “Sine-Wave Method”. 01.2015, USL00010, Bosch Rexroth Corp.

  • Page 34: Enable Drive Power

    2. Press the Enable button to put drive in “Drive Enable” state (AF). 3. After thoroughly reading the warning message and safety instructions, press the OK button. 4. Drive enabled (AF), with (a) Drive OFF button is selectable; (b) floating Drive OFF button appears. Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 35: Verify Commutation Offset

    Depending on the application, further commutation offset optimization may be required. For further details, please see the Rexroth IndraDrive MPx-17 (or later) Functions Applications Manual sections “Commutation Setting” and “Sine-Wave Method”. 01.2015, USL00010, Bosch Rexroth Corp.

  • Page 36: Home Axis

    Reference distance in step 2. Therefore, on subsequent homing commands, the axis reference may differ depend- ing on where the axis is physically “resting” at the time. Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 37: Stop Initial Commissioning Mode

    1 = Active, correction value was determined, full 100% capacity according to initial commissioning! 4. If parameter P-0-0519 Bit1=0, re-determine the commutation offset (see flowchart). For detailed information, see the Rexroth IndraDrive MPx-17 (or later) Functions Applications Manual sections “Commutation Setting” and “Sine-Wave Method”. 01.2015, USL00010, Bosch Rexroth Corp.

  • Page 38: Save/Backup Parameters

    24.1 Save/backup parameters to PC 24.1.1 Steps for saving parameters: 1. If not done already, press the Drive OFF button to disable drive power for safety 2. Select the Parameterization pull-down menu, then select Save 3. Follow Save instructions Bosch Rexroth Corp., USL00010, 01.2015...

  • Page 39: Move Axis

    1. Select Easy Startup Mode. 1. Select Command Value Box. 2. Enter Jogging mode and ± velocity. 2. Select Reversing, position-controlled. 3. Press the Jog ± button. 3. Enter command value inputs. 4. Press the Start button. 01.2015, USL00010, Bosch Rexroth Corp.

  • Page 40: Optimize Control Loops

    Axis Control functions Adjust control loop parameters IndraWorks Oscilloscope Analyze transient performance Frequency Response Analysis Analyze control loop stability Save Parameters Save optimized parameters For detailed functional descriptions and instructions, please see IndraDrive Firmware help. Bosch Rexroth Corp., USL00010, 01.2015...
  • Page 41 Notes Notes 01.2015, USL00010, Bosch Rexroth Corp.
  • Page 42 Notes Notes Bosch Rexroth Corp., USL00010, 01.2015...
  • Page 43 Notes Notes 01.2015, USL00010, Bosch Rexroth Corp.
  • Page 44 The information given does not release the user from the obligation of own judgment and verification. It must be remembered that our products are subject to a natural process of wear and aging. USL00010/01.2015 © Bosch Rexroth Corporation 2015 Printed in the United States.

This manual is also suitable for:

Rexroth ckl 110Rexroth ckl 200Rexroth ckl 145

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