Bosch rexroth MBT, Руководство пользователя

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Bit 3 if the encoder
Design
L R
is rotating to the right (positive) 1 0
is rotating to the left (positive) 0 1
Tab. 13-5: Parameter S-0-0277 bit 3
13.7 Commutation adjustment
Errors while activating motors and moving el‐
ements! Commutation adjustment always has
to be performed in the following cases:
DANGER
⇒ Upon initial commissioning
⇒ Change of the mechanical attachment of the encoder system
⇒ Replacement of the encoder system
⇒ Change the mechanical attachment of stator and/or rotor
Errors in commutation adjustment can result
in malfunctions and/or uncontrolled move‐
ments of the motor!
WARNING
⇒ Effective direction of motor torque = count direction of encoder system
⇒ Complying with the described setting procedures
⇒ Correct motor and encoder parameterization
⇒ Appropriate parameterization of current and velocity control loops
⇒ Correct connection of motor power cable
⇒ Protection against uncontrolled movements
The torque of the synchronous torque motor can only develop to a maximum
and constant degree, if the commutation angle is set correctly
This procedure ensures that the angle between the current vector of the sta‐
tor and the flux vector of the rotor is always 90°. The motor supplies the max‐
imum torque in this state.
Motor connection The individual phases of the motor power connection have to be assigned
correctly. See also chapter 8 "Connection technique" on page 237 .
Adjustment procedure Different commutation adjustment procedures have been implemented in the
firmware. They are selected via parameter P-0-0522. The following figure
shows an overview of the interrelation among the encoder system used and
the method to be applied.
MBT High Synchronous Torque Motors 391/409
Commissioning, operation and maintenance
R911298798_Edition 08 Bosch Rexroth AG