Bosch DOK-MOTOR-MCL Series, Project Planning Manual

Page: 173 / 196

The encoder polarity is selected via the primary part (cable con‐
nection). The installation direction or the pole sequence of the
secondary part does not have any influence on the selection of
the sensor polarity.
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 linear scale
count direction is set:
S-0-0085, Torque/force polarity parameter 0000000000000000
S-0-0043, Velocity polarity parameter 0000000000000000
S-0-0055, Position polarities 0000000000000000
14.6 Commutation adjustment
14.6.1 General information
Setting the correct commutation angle is a prerequisite for maximum and
constant force development of the synchronous linear motor.
Commutation adjustment must always be performed in the follow‐
ing cases:
⇒ Initial start-up
⇒ After the mechanical attachment of the length measuring sys‐
tem has been modified
⇒ Replacement of the linear scale
⇒ Modification of the mechanical attachment of the primary
and/or secondary part
This procedure ensures that the angle between the current vector of the pri‐
mary part and the flux vector of the secondary part is always 90°. The motor
supplies the maximum force in this state.
Adjustment procedure Different commutation adjustment procedures have been implemented in the
firmware. The figure below shows the correlation between the employed line‐
ar scale and the method that is to be use.
DOK-MOTOR*-MCL********-PR05-EN-P Bosch Rexroth AG 171/193
Rexroth IndraDyn L Ironless Linear Motors MCL
Commissioning, operation and maintenance