Rexroth IndraDrive C Drive Controllers HCS02.1 ... - Bosch Rexroth

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7-10 Commissioning and Parameterization Rexroth IndraDrive Diagnostic Messages S-0-0262, C07_x Load defaults procedure command • While the default control loop parameter values and the motor type parameter is loaded the controller signals: C07_0 Load defaults procedure com. (load controller param.) • If the parameter values in the encoder data memory cannot be read: C0706 Error when reading the controller parameters • If the motor type connected to the controller has changed: F2008 RL The motor type has changed. • If an invalid value for the commutation offset is contained in the encoder memory, the controller signals: F2104 Commutation offset invalid Load Defaults Procedure For all Rexroth motors of the series with motor encoder data memory (e.g. MHD, MKD, MKE, MSK and possibly MAD and MAF), the basic settings for the controllers are stored and can be loaded to the drive by executing the "load defaults procedure" command (S-0-0262). There are two ways to activate the S-0-0262, C07_x Load defaults procedure command parameter: • Automatically when running up the drive by recognizing that the motor type (cf. parameter S-0-0141) has changed. The display then reads "RL" and the "load defaults procedure" command is internally started by pressing the "Esc" button on the control panel, unless this was deactivated in P-0-0556, Control word of axis controller. • Starting the command by writing "11b" to parameter S-0-0262. See also "Loading, Storing and Saving Parameters" in chapter "Handling, Diagnostic and Service Functions" Note: In order to start the "load defaults procedure" command the value "0" (default setting) must have been set in parameter P-0-4090, Index for C07 Load defaults procedure. During the load defaults procedure, the following control loop parameters are set to their default values optimized for the respective motor: • S-0-0100, Velocity loop proportional gain • S-0-0101, Velocity loop integral action time • S-0-0104, Position loop Kv-factor • S-0-0106, Current loop proportional gain 1 • S-0-0107, Current loop integral action time 1 • P-0-0004, Velocity loop smoothing time constant Note: The default settings for the current loop (cf. S-0-0106 and S-0-0107) are automatically adjusted to the currently parameterized PWM frequency (cf. P-0-0001) and performance setting (cf. P-0-0556)! In addition, the following control loop parameters are set to their firmwareside default values although there haven't been any default values stored for them in the motor data memory: • S-0-0348, Acceleration feedforward gain • P-0-1125, Velocity control loop: average value filter clock DOK-INDRV*-FU*********-IB01-EN-P
Rexroth IndraDrive Commissioning and Parameterization 7-11 DOK-INDRV*-FU*********-IB01-EN-P Note: In the majority of cases, the controller settings stored in the motor encoder data memory provide a useful and reliable control loop setting. In exceptional cases, however, it may be necessary to make the settings with regard to the specific application.
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Electric Drives Linear Motion and a
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Rexroth IndraDrive Contents I Conte
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Rexroth IndraDrive Contents III Mul
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Rexroth IndraDrive Introducing the
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Rexroth IndraDrive Important Direct
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Rexroth IndraDrive Safety Instructi
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Rexroth IndraDrive Identification,
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Rexroth IndraDrive Electrical Data
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Rexroth IndraDrive Mounting and Ins
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Rexroth IndraDrive Diagnostic and S
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Rexroth IndraDrive Service & Suppor
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Rexroth IndraDrive Index 10-1 10 In
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Rexroth IndraDrive Index 10-3 DOK-I
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Rexroth IndraDrive Index 10-11 DOK-
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R911314905 Bosch Rexroth AG Electri
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Rexroth IndraDrive C Drive Controllers HCS02.1 ... - Bosch Rexroth

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