MPH-02, MPB-02, MPD-02
Commissioning
11-17
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Configuring the Holding Brake
If the motor to be controlled is equipped with a holding brake or the
controller has to control an external holding brake (for kit motors, if
necessary), make the following settings:
•
enter maximum "drive off" delay time
•
enter holding brake data (external brake), if necessary
•
configure type, functioning principle and monitor of brake in holding
brake control word
See "Motor Holding Brake: Notes on Commissioning" in chapter "Motor,
Mechanical Axis System, Measuring Systems"
Setting the Control Loop Parameters
Set controller and filter parameters for the control loops:
•
velocity control loop
•
position control loop
See "Notes on Commissioning" in the sections of chapter "Drive Control"
Setting the Limitations
The controller offers the possibility of limiting physical status variables of
the drive. Depending on the application, limit values can be set for:
•
torque/force command value
•
velocity command value
•
position command values and actual position values
On the user side, limitations are available for:
•
maximum allowed torque/force (S-0-0092, P-0-0109)
•
motive and generating load at stationary velocity (S-0-0082, S-0-0083)
The limit values currently effective due to the user-side limit settings are
displayed in:
•
P-0-0444, Actual value peak torque limit
•
P-0-0442, Actual value torque limit positive (stationary)
•
P-0-0443, Actual value torque limit negative (stationary)
Current command values are displayed in:
•
P-0-0049, Effective torque/force command value
•
P-0-0038, Torque-generating current, command value
See also descriptions of the respective parameter in the separate
documentation "Rexroth IndraDrive, Parameter Description"
Apart from the user-side limits, further limits take effect in the torque/force
or current control loop:
•
absolute current limit values due to controller and motor
•
load-dependent (dynamic), thermal current limit values
See also "Limitations: Current and Torque Limitation" in chapter "Drive
Control"
Limiting Torque/Force
Command Value
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