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Bosch Rexroth Corp.

, USL00010, 01.2015

1 General

1.1 Scope and purpose of the documentation

• This document is intended to be a guideline for initial axis commissioning of the CKL Linear

Motor Module.

• The parameters found within are based solely on the use of Bosch Rexroth IndraDrive Cs

servo drives.

• For 3rd Party Servo Drives, while items on the initial parameter set may be the same, expect

minor adjustment requirements depending on the Drives‘ Manufacturer recommendations.

2 Commissioning

• Verify actual CKL system in-hand and all Preconditions (see page 5).

• Print or display the “Commissioning Flowchart” Part 1 and Part 2 relevant to Hall sensor

type as you commission the CKL system.

• Step through the flowchart by reading the relevant instruction pages.

• Please be advised, the instruction pages are NOT meant to be completely read straight-

through in page order. For example, if using analog Hall sensor, not all instruction pages are
necessary (see flowchart). Furthermore, depending on success/failure of a step, looping
through previous steps might be required (see flowchart).

General Information

Содержание Rexroth CKL 110

Страница 1: ...Commissioning the CKL Drive Controller USL00010 01 2015 ...

Страница 2: ... assured characteristics The information given does not release the user from the obligation of own judgment and verification It must be remembered that our products are subject to a natural process of wear and aging This document as well as the data specifications and other information set forth in it are the exclusive property of Bosch Rexroth Corp It may not be reproduced or given to third part...

Страница 3: ...anical System 17 11 Limit Values 19 12 Motor 21 13 Motor Encoder 26 14 Data Reference Motor Encoder 27 15 Axis Control Parameters 28 16 Commutation Settings 29 17 Easy Startup Mode 30 18 Drive Error Diagnostics 31 19 Determine Commutation Offset 33 20 Enable Drive Power 34 21 Verify Commutation Offset 35 22 Home Axis 36 23 Stop Initial Commissioning Mode 37 24 Save Backup Parameters 38 25 Move Axi...

Страница 4: ...Manufacturer recommendations 2 Commissioning Verify actual CKL system in hand and all Preconditions see page 5 Print or display the Commissioning Flowchart Part 1 and Part 2 relevant to Hall sensor type as you commission the CKL system Step through the flowchart by reading the relevant instruction pages Please be advised the instruction pages are NOT meant to be completely read straight through in...

Страница 5: ...sioning Network Connection Firmware Language Selection Master Communication Power Supply Scaling Mechanical System Limit Values Data Reference Motor Encoder Preconditions Motor Motor Encoder Hall Sensor Analog Hall Digital Hall or without Hall Axis Control Parameters Proceed to Part 2 for relevent Hall Sensor type 5 Commissioning Flowcharts ...

Страница 6: ... Yes No Easy Startup Mode PM to OM Drive Error Diagnostics Home Axis Finished Initial Commissioning Enable Drive Power Yes with Basic Parameters Yes with Optimized Parameters No Save Basic Parameters Optimize Control Loops Move Axis Motion OK Save Optimized Parameters 6 Commissioning Flowcharts ...

Страница 7: ...utation Offset Stop Initial Commissioning Mode Save Basic Parameters Disable Drive Power Finished Initial Commissioning Enable Drive Power Optimize Control Loops Manually Reposition Axis to Allow Unrestricted Movement Move Axis Motion OK Save Optimized Parameters Home Axis Yes with Basic Parameters Yes with Optimized Parameters Not OK OK P519 Bit1 1 commutation offset optimized to ref homed point ...

Страница 8: ... length mm select any value HCS01 IndraDrive Cs with Firmware MPx 17V08 or greater Supported feedback combinations Firmware Encoder HCS01 connector Hall unit HCS01 connector Additional hardware requirement MPE B C analog X4 without without none MPE B C digital X4 without without none MPE B C analog X4 digital X4 with SHL03 Hall sensor box MPB C digital X4 analog X8 with HCS01 dual encoder interfac...

Страница 9: ...NRT channel for drive commissioning 5 1 1 Steps for configuring the network connection 1 Right mouse button click on Local Area Connection and select Properties in the pop up menu 2 Select Internet Protocol Windows XP or Internet Protocol Version 4 Windows 7 3 Press the Properties button 9 Network Connection ...

Страница 10: ... IndraWorks Ds 6 Enter the IP address of the IndraDrive the default factory setting is 192 168 0 1 7 Press the Browse button 8 The connected IndraDrive appears with device information 9 Press the OK button NOTE If the IP address of the IndraDrive is 192 168 0 1 then the PC s first three dot decimal numbers must be the same for example 192 168 0 x The fourth number x must be different from that of ...

Страница 11: ...patibility and update IndraDrive firmware 6 1 1 Steps for checking firmware compatibility 1 Select the Help pull down menu then select Info 2 Verify that firmware version MPx 17VRS or later is supported If not install a later release of IndraWorks Ds 11 Firmware ...

Страница 12: ...for checking firmware compatibility continued 3 In the Explorer tree right mouse button click on the Axis and select Properties in the pop up menu 4 Verify that firmware version MPx 17V08 or later is on the IndraDrive If not download new firmware to the drive 12 Firmware ...

Страница 13: ...e obtained from Rexroth support based on the following compatibility table Drive Controller Type Functionality Communication Firmware HCS01 1E E S3 ECONOMY SERCOS III FWA INDRV MPE HCS01 1E B ET BASIC Multi Ethernet FWA INDRV MPB HCS01 1E A CC ADVANCED SERCOS III Master Cross Comm FWA INDRV MPC 3 Press the Download button the Progress bars will indicated download progression 4 When download is com...

Страница 14: ...r Parameter Search window 2 If opened the Parameter Search window type language in the Text search box and select parameter S 0 0265 from the list 3 Enter the desired language by typing one of the following values 0 German factory default 1 English 2 French 3 Spanish 4 Italian If necessary the IndraWorks user interface language setting can be changed by selecting Tools Options Environment Language...

Страница 15: ...2 Select the desired master communication in the Basic setting pull down menu Sercos III is the factory default setting Please be advised selecting EtherCAT disables the Ethernet engineering communication Therefore for initial drive commissioning select No master comm activated or Sercos III to commission the drive axis then select EtherCAT master communication for application programming operatio...

Страница 16: ...nnected to 3 phase mains supply check box Phase monitoring of mains voltage 1 phase mains supply uncheck box Phase monitoring of mains voltage NOTE For all CKL linear motor sizes allowed mains supply 1 or 3 phase AC 110 230V connected to drive If a drive for higher voltage is used e g 3 400V with HCS01 1E W00xx A 03 please use a transformer and limit bleeder to 390V 16 Power Supply ...

Страница 17: ...its 2 Select linear this updates units in other windows e g Scaling Units Extended Motor Encoder etc 3 Select negation no factory default motor effective force and encoder positive counting directions 4 a Press the Extended button or b select Scaling Units Extended in the Explorer tree 5 Select extended options e g change velocity scaling unit from factory default mm min to mm s 17 Scaling Mechani...

Страница 18: ...ect drive factory default is 10 8 Enter Load inertia This is actually Load mass for a linear motor axis The value does not have to be exact since it is used as an initial value for automatic control loop optimization see IndraDrive Firmware help for command C1800 The following are approximate values with a cable chain and empty carriage 4kg for CKL 110 with motor primary MCP030 5kg for CKL 145 wit...

Страница 19: ...on limit values or bipolar limit value for symmetric limit 3 If application has hardware limit switches to activate functionality on the drive check box Travel range limit switch monitoring factory default is unchecked then select switch type normally closed or normally open and drive reaction when travel range exceeded Warning axis stopped command is allowed to move axis to permissible travel ran...

Страница 20: ...lication requirements enter torque force limit values factory default is 400 of the nominal continuous torque force see motor datasheet NOTE Per parameter S 0 0086 for linear kit motors the reference value 100 value also corresponds to the continuous torque at standstill or the continuous force at standstill In this case the cooling factor is 1 0 because the cooling type is invariable P 0 0640 is ...

Страница 21: ...teps for updating the motor database 1 If the Date of motor database is outdated proceed to step 2 2 Select the Diagnosis Service pull down menu then select Drive Database 3 Press the Update button must have direct internet connection if not reconfigure your Network Connection properties 21 Motor ...

Страница 22: ...5 12 Motor continued 12 2 Configure linear motor from database 12 2 1 Steps for configuring the linear motor from database 1 In the Explorer tree select Motor 2 Select Rexroth kit motor in the Motor category box drop down list 22 Motor ...

Страница 23: ...30 3S xxxx NNNN 300 mm MCP030D V180 NI xxCN NNNN MCS030 3S xxxx NNNN CKL 145 244 mm MCP040C V300 NI xxCN NNNN MCS040 3S xxxx NNNN 364 mm MCP040E V300 NI xxCN NNNN MCS040 3S xxxx NNNN 484 mm MCP040G V300 NI xxCN NNNN MCS040 3S xxxx NNNN CKL 200 237 mm MCP070C V300 NI xxCN NNNN MCS070 3S xxxx NNNN 297 mm MCP070D V300 NI xxCN NNNN MCS070 3S xxxx NNNN 417 mm MCP070F V300 NI xxCN NNNN MCS070 3S xxxx NN...

Страница 24: ... 12 Motor continued 12 2 1 Steps for configuring the linear motor from database continued 5 Select Mounting method B 6 Press the OK button 7 You can now see that the motor parameters in the drive are the same as in the database 24 Motor ...

Страница 25: ...nter key System size Carriage length Primary part DB value Factor CKL value CKL 110 180 mm MCP030B V180 1 3 75 0 98 240 mm MCP030C V180 1 8 75 1 35 300 mm MCP030D V180 2 5 75 1 88 CKL 145 244 mm MCP040C V300 2 9 85 2 47 364 mm MCP040E V300 4 7 85 4 00 484 mm MCP040G V300 6 6 85 5 61 CKL 200 237 mm MCP070C V300 5 1 82 4 18 297 mm MCP070D V300 6 4 82 5 25 417 mm MCP070F V300 9 0 82 7 38 3 Parameter ...

Страница 26: ...ith SHL03 digital analog Encoder combination Encoder with square wave signals TTL 5V supply and Hall sensor box SHL02 12V supply analog analog Encoder combination Encoder with sine signals 1Vpp 5V supply and Hall sensor box SHL02 12V supply 3 Select Linear encoder then enter Resolution Encoder type Encoder interpolation Encoder resolution µm Resolution mm analog n a 0 1 0 02 digital x8 2 5 0 01 di...

Страница 27: ...tch with positive stop move to hard stop then reverse move to home switch Limit switch with positive stop move to hard stop then reverse move to limit switch Positive stop only move to hard stop then reverse move to reference point offset value NOTE Caution when homing with positive stop it may require reducing application torque force limits see Limit Values page 17 to prevent max exceeded torque...

Страница 28: ...Filter to input parameter P4 See below table for parameter values Basic CKL System Control Loop Parameter Values S 0 0100 S 0 0101 P 0 0004 Velocity loop proportional gain Velocity loop integral time Velocity loop smoothing time System Carriage length Primary part N mm min ms µs CKL 110 180 mm MCP030B V180 0 027 8 9 300 240 mm MCP030C V180 0 033 8 9 300 300 mm MCP030D V180 tbd tbd tbd CKL 145 244 ...

Страница 29: ...minimum value for determining commutation However too low of an initial value may result in poor commutation Suggest using the following values Amplitude 40 for CKL 110 with motor primary MCP020 30 Amplitude 60 for CKL 145 200 with motor primary MCP040 70 5 If using a digital Hall sensor If value of 0 in the box field right mouse button click in the box field then in the pop up menu select Paramet...

Страница 30: ...Steps for configuring easy startup mode 1 In the Explorer tree select Easy Startup Mode 2 Select Engineering Port TCP IP 3 Press the Start Easy Startup Mode button to put drive in Drive Ready state Ab 4 If successful Easy startup mode status is active and the Enable button is selectable 30 Easy Startup Mode ...

Страница 31: ...ates a drive error in this example F8022 encoder error message 3 Select the Help icon for a description of the error possible cause and remedy e g check encoder cable is securely connected to drive 4 After checking possible remedy set drive to Parameter mode 5 Clear error 6 Re try Start Easy Startup Mode PM OM 7 If Axis status indicates another error repeat steps 3 to 6 31 Drive Error Diagnostics ...

Страница 32: ...2 1 Steps for further drive error diagnostics 1 Select the Diagnosis Service pull down menu then select Error Diagnostic Memory 2 In the Error memory tab the most recent drive errors are shown at the top of the list 3 Select the Help icon and search for the error code e g F2019 for further help 32 Drive Error Diagnostics ...

Страница 33: ...tion Settings 2 Press the Determine Commutation Offset button drive must be in Ab for this step WARNING Stay clear axis will MOVE 3 After commutation values for test signal Amplitude and Frequency Effective offset and Offset are determined 4 Repeat step 2 multiple times to verify that the commutation offset has a stable value e g within approximately 10 of measured value For detailed information s...

Страница 34: ...r 1 In the Explorer tree select Easy Startup Mode 2 Press the Enable button to put drive in Drive Enable state AF 3 After thoroughly reading the warning message and safety instructions press the OK button 4 Drive enabled AF with a Drive OFF button is selectable b floating Drive OFF button appears 34 Enable Drive Power ...

Страница 35: ...and negative positive current control movement of the axis ATTENTION Prior to this command the axis position must allow UNRESTRICTED MOVEMENT WARNING Stay clear axis will MOVE 6 If axis moves smoothly in the expected direction then the commutation offset has been verified If not then repeat Determine Commutation Offset procedure see flowchart NOTE Verified this is a practical field method using cu...

Страница 36: ...ful Motor encoder and System in reference LEDs are green WARNING If none of the Evaluation methods reference mark switch stop are selected the axis references without homing motion After execution of the homing com mand the current physical position of the axis is set to the user specified Reference distance in step 2 Therefore on subsequent homing commands the axis reference may differ depend ing...

Страница 37: ... Re determining the commutation offset is only necessary after mechanically servicing the linear motor encoder or Hall sensor If not using a Hall sensor The commutation offset is not stored in the IndraDrive Cs Therefore on subsequent drive power cycles and or PM OM state changes after drive power is enabled the drive immediately determines the commutation offset using the stored Amplitude and Fre...

Страница 38: ...4 1 Save backup parameters to PC 24 1 1 Steps for saving parameters 1 If not done already press the Drive OFF button to disable drive power for safety 2 Select the Parameterization pull down menu then select Save 3 Follow Save instructions 38 Save Backup Parameters ...

Страница 39: ...25 1 1 Steps for moving axis Jogging top 1 Select Easy Startup Mode 2 Enter Jogging mode and velocity 3 Press the Jog button Motion Profile bottom 1 Select Command Value Box 2 Select Reversing position controlled 3 Enter command value inputs 4 Press the Start button Jogging Motion Profile 39 Move Axis ...

Страница 40: ...g is typically not required However adjusting the PWM Switching Frequency parameter P 0 0001 in Motor Control Current Control screen may be desirable for some applications e g lower noise generation If making this or any other motor current control adjustments please consult IndraDrive Firmware help 24 1 1 Steps for optimizing CKL system velocity position control loops repeat as necessary No Funct...

Страница 41: ...01 2015 USL00010 Bosch Rexroth Corp 41 Notes Notes ...

Страница 42: ...Bosch Rexroth Corp USL00010 01 2015 42 Notes Notes ...

Страница 43: ...01 2015 USL00010 Bosch Rexroth Corp 43 Notes Notes ...

Страница 44: ...elease the user from the obligation of own judgment and verification It must be remembered that our products are subject to a natural process of wear and aging USL00010 01 2015 Bosch Rexroth Corporation 2015 Printed in the United States Bosch Rexroth Corporation Linear Motion and Assembly Technologies 14001 South Lakes Drive Charlotte NC 28273 Telephone 800 438 5983 Facsimile 704 583 0523 www bosc...

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