Bosch DOK-MOTOR-MCL Series, Project Planning Manual

Page: 178 / 196

Primary part
k
mx
in mm
MCP020 24.1
MCP030 / 040 / 070 49.6
Tab. 14-5: Motor constant k
mx
for commutation adjustment
Example on MCP040C for reference point ➀
a = 100 mm , k
mx
= 49.6 mm
P-0-0523 = a - k
mx
= 100 mm - 49.6 mm = 50.4 mm
Example on MCP040C for reference point ②
b = 20 mm , k
mx
= 49.6 mm , l
p
= 187 mm
P-0-0523 = -b - l
p
- k
mx
= -20 mm - 187 mm - 49.6 mm = - 256.6 mm
Activation of commutation adjust‐
ment command
Prerequisites:
1.
The drive must be in the A0-13 state during the subsequent adjustment
procedure (=ready for power connection).
2. The position of the primary part and/or the slide must not habe changed
since the relative position of the primary part with respect to the secon‐
dary part has been measured.
Once the determined value P-0-0523, Commutation setting measured value,
has been entered, the command P-0-0524 (D300 commutation setting com‐
mand) must be started. The commutation offset is calculated in this step.
If the drive is in command start "AB" (drive ready for operation),
the commuation offset with the selected procedure (saturation or
sinuisoidal procedure) is determined for automatic commutation.
The command must subsequently be cleared.
14.7 Setting and optimizing the control loop
14.7.1 General procedure
The control loop settings in a digital drive controller have an essential impor‐
tance for the properties of the servo axis. The control loop structure consists
of a cascaded position, velocity and current controller. Which of the control‐
lers is active is defined by the operation mode.
Defining the control loop settings requires the corresponding ex‐
pertise.
The procedure used for optimizing the control loops (current, velocity and po‐
sition controllers) of linear direct drives corresponds to the one used for rotary
servo drives. At linear drives are only the adjustment limits higher.
Bosch Rexroth AG DOK-MOTOR*-MCL********-PR05-EN-P 176/193
Rexroth IndraDyn L Ironless Linear Motors MCL
Commissioning, operation and maintenance