Bosch rexroth MCL, Project Planning Manual

Page: 187 / 206

Example at 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 at 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 status A0-13 during the following adjustment pro‐
cedure (= ready for power switching).
2. The position of the primary part or the slide must not have changed after
measuring of the relative position of the primary to the secondary part.
After the determined value P-0-0523 (Commutation adjustment measured
value) is entered, command P-0-0524 (D300 Commutation adjustment com‐
mand) has to be started. In this process, the commutation offset is calculated.
If the drive is in command start "AB" (drive ready for operation),
the commutation offset with the selected procedure (saturation or
sinusoidal procedure) is determined for automatic commutation.
Afterwards, the command is to 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 controller is ac‐
tive is defined by the operation mode.
Defining the control loop settings requires the corresponding ex‐
pertise.
The procedure for control loop optimization (current, velocity and position
controller) at linear direct drives corresponds to the procedure for rotary servo
drives. Only the setting limits of linear drives are higher.
MCL Ironless Linear Motors 179/197
Commissioning, operation and maintenance
R911330592_Edition 06 Bosch Rexroth AG