Bosch rexroth MCL, Project Planning Manual

Page: 184 / 206

Motor connection The individual phases of the motor power connection have to be assigned
correctly.
Parameter checking To ensure proper commutation adjustment, the following parameters should
be checked again:
Ident number Description Designation/function
S-0-0085 Torque/force polarity pa‐
rameter
Refer to Parameter De‐
scription
●
Rexroth IndraDrive
MPx-xx,
MNR R911328651
● Rexroth IndraDrive
MPx-xx,
MNR R911297317
S-0-0043 Velocity polarity parameter
S-0-0055 Position polarity
P-0-4014 Type of motor
P-0-0018 Number of pole pairs/pole
pair distance
S-0-0116 S-0-0116, Encoder 1 reso‐
lution
P-0-0522 Commutation adjustment
control word
P-0-0074 Encoder type 1 (motor en‐
coder)
Tab. 14-3: Parameters to be checked before commutation adjustment
14.6.2 Sinusoidal procedure
You will find limitations and detailed notes about the sinusoidal procedure in
●
Rexroth IndraDrive Firmware MPx-xx Functional Description,
MNR R911328670
● Rexroth IndraDrive MPx-xx Application Manual, MNR R911326767
14.6.3 Hall sensor procedure
The Hall sensor procedure is applied if an incremental measuring system is
used in combination with a Hall unit in the primary part. Also observe the in‐
formation on the Hall unit in chapter 7.1 "Hall unit" on page 77 .
Commutation by means of analog
Hall unit
For operation on Rexroth IndraDrive Cs, the following sercos parameters
must be edited before commissioning.
Ident number Description Value
P-0-0508
(for MCP020)
Commutation offset 1) 590
P-0-0508
(for MCP030 ... 070)
Commutation offset 1)
922
P-0-0074 Encoder type 1 (motor encoder) 15
1) The parameter is used to enter the motor depending constants.
It is not the actually commutation offset. This is displayed with‐
in parameter P-0-0521 “Effective commutation offset” after au‐
tomatic calculation.
Tab. 14-4: Parameters to be checked before commutation adjustment
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Commissioning, operation and maintenance
MCL Ironless Linear Motors
Bosch Rexroth AG R911330592_Edition 06