Bosch rexroth MCL, Project Planning Manual

Page: 175 / 206

14 Commissioning, operation and maintenance
14.1 General
In some points, commissioning of linear motors is different in comparison to
rotary servo motors. For commissioning of synchronous linear motors, the fol‐
lowing points must be observed in particular:
Parameters Synchronous linear motors are kit motors whose single components are di‐
rectly installed into the machine by the manufacturer – completed by an en‐
coder system. As a result, kit motors do not feature any data memory to pro‐
vide motor parameters, standard controller settings, etc. All parameters must
be manually entered or loaded to the drive during commissioning. The
IndraWorks commissioning program provides all Rexroth motor parameters.
Controller optimization The procedure for controller optimization (current, velocity and position con‐
troller) at linear direct drives corresponds to the procedure for rotary servo
drives. Only the setting limits of linear drives are higher. For example, this en‐
ables setting up to 10 times higher kv factors at linear direct drives in compar‐
ison to rotary servo drives. However, this requires a respective machine con‐
struction (see chapter 9.12 "Requirements on the machine design" on page
110 ).
Moving masses With controlled rotary servo drives, there are control limitations in the ratio of
motor moment of inertia to load moment of inertia. This restriction does not
apply for direct drives with linear motors: The moved external load depends
on load of the motor itself.
Encoder polarity The polarity of the actual velocity (length measuring system) must comply
with the force polarity of the motor. Before commutation adjustment, this rela‐
tion must be established.
Commutation adjustment It is necessary at synchronous linear motors to receive the position of the pri‐
mary part relating on the secondary part by return after start or after a mal‐
function. This is referred to as pole position detection or commutation adjust‐
ment. This means that the commutation adjustment is the establishment of a
position reference to the electrical or magnetic model of the motor. Commuta‐
tion adjustment can only be made after installation of motor components and
the length measuring system. The commutation adjustment method depends
on the measuring principle of the length measuring system.
14.2 General requirements
14.2.1 General
The following requirements have to be met to ensure successful commission‐
ing:
●
Compliance with safety-related guidelines and instructions
● Check of electrical and mechanical components for reliable functioning
● Availability and provision of required tools
● Adherence to the commissioning procedure described below
14.2.2 Checking all electrical and mechanical components
Check all electrical and mechanical components prior to commissioning and
pay particular attention to the following issues:
MCL Ironless Linear Motors 167/197
Commissioning, operation and maintenance
R911330592_Edition 06 Bosch Rexroth AG