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

Rexroth IndraDrive Commissioning and Parameterization 7-39
Function
Function
Function
DOK-INDRV*-FU*********-IB01-EN-P
• regenerative operation at negative velocity
See also Functional Description "Torque/Force Limitation"
S-0-0083, Torque/force limit value negative
Input min/max: Default value: Unit:
MPB: --- S-0-0086
This parameter allows determining a torque or force limit value for
negative torque/force command values. This limit value only takes effect
with regard to the torque command value of the velocity controller
(P-0-0049) and not with regard to command values from the acceleration
feedforwards (S-0-0348, P-0-1126). Negative torque takes effect in the
case of:
• motive operation at negative velocity
• regenerative operation at positive velocity
See also Functional Description "Torque/Force Limitation"
S-0-0084, Torque/force feedback value
Input min/max: Default value: Unit:
MPB: --- / --- --- S-0-0086
Display parameter for the actual torque/force value currently effective.
Calculating the actual torque/force value
actual torque/force value = torque-generating current, actual value
(P-0-0043) * torque factor
Fig. 7-38: Relation for calculating the actual torque/force value
Note: The value displayed in S-0-0084 is only an approximation of
the torque or the force of the motor actually generated!
See also Functional Description "Torque/Force Limitation"
S-0-0085, Torque/force polarity parameter
Input min/max: Default value: Unit:
MPB: 0 / 7 0 --
In this parameter it is possible to invert the polarities of the indicated
torque/force data with regard to the application. The polarities are
changed outside of the controlled system, i.e. at the input and output of
the controlled system.
The following applies to rotary motors:
A clockwise turn of the motor output shaft in the case of positive torque
and positive polarity.
The following applies to linear motors:
A move of the primary part in the direction of the cable connection side in
the case of positive force and positive polarity.