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

Rexroth IndraDrive Commissioning and Parameterization 7-23
S-0-0092
DOK-INDRV*-FU*********-IB01-EN-P
Bipolar Torque/Force Limit Value
• Starting point: main screen
By pressing ◄ key several times you get to main screen. By means of
Esc key, you might possibly have to exit editing mode before.
• ► Press key.
Mode selection is displayed.
• Select Bipol. torque/force limit val.
• ► Press key.
Following display appears. Enter desired value for "bipolar torque/force
limit value" (parameter S-0-0092).
Data field in which you can make inputs is highlighted in black.
Fig. 7-15: Bipolar torque/force limit value (S-0-0092)
• Data field in which you can make inputs is highlighted in black.
• Enter desired value:
◄, ►: move cursor to the left or to the right
Prog + , ⎺Mon: change setting
• Press Enter key to confirm your setting.
• Press Esc to leave editing mode.
By this parameter it is possible to limit the torque/force command value to
allowed maximum values in order to protect the mechanical components.
The parameter acts in a bipolar way, i.e. positive and negative command
values are limited to the entered value. The limitation acts on the sum of
all torque command values, i.e. on the sum of the command value
components of the velocity controller output and the command value
components from acceleration-dependent feedforwards ("S-0-0348,
Acceleration feedforward gain"; "P-0-1126, Velocity control loop:
acceleration feedforward"). The unit of S-0-0092 depends on the scaling
that has been set.
Note: The effective limit value is displayed in P-0-0049, Effective
torque/force command value. This value can be limited with
regard to S-0-0092, due to a lower value in "P-0-0109,
Torque/force peak limit" or due to a current limit by the
respective work load of amplifier or motor.
If in stationary operation (constant speed) a lower torque than
in the case of acceleration processes is to be made available
to the drive, this can be achieved by appropriate values of
"S-0-0082, Torque/force limit value positive" and "S-0-0083,
Torque/force limit value negative" in conjunction with
acceleration feedforward (S-0-0348 or P-0-1126).
The bipolar torque/force limit value also acts on "C1300 Positive stop
drive procedure command", the value of S-0-0092 is a criterion for the
acknowledgment of C1300.