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

More documents

Recommendations

Info

7-118 Commissioning and Parameterization Rexroth IndraDrive Scaling of Physical Data Scaling Parameters 250 µs 2000 1) MPH MPB 0 Basic 62,5 µs 16000 MPH 1 Advanced 83,3 µs 12000 MPH 1 Advanced 62,5 µs 8000 MPH 1 Advanced 125 µs 4000 MPH 1 Advanced TA_current: sampling time of current loop P-0-0001: Switching frequency of power output stage (in Hz) P-0-0556: Configuration of axis controller 1): only with power section HCS04.1… and MAD/MAF Fig. 7-53: Cycle times and switching frequencies that can be set Note: Via bit 2 and bit 5 of parameter P-0-0556, Configuration of axis controller it is possible to select the performance options depending on the control section design. See "Overview of Functions: Performance Data" in chapter "System Overview" The controller via data maps the drive to an internal mathematical model. The status variables of the drive are determined on the basis of: • position measurement, • current measurement and • temperature measurement. The measured values collected in this way are converted into physical data: • position, velocity, acceleration and jerk data • current data, torque and force data • temperature data and load data The master transmits command values to the drive that are used by the controller for transforming them at the motor output shaft or mechanical axis system. The drive in return registers and transmits actual values, signals operating and command states and, if necessary, generates error messages and warnings. Communication between drive and master also takes place by exchanging data. An operating data (numeric value) can only be evaluated as a physical value, when the numeric value is connected to a physical unit and the position of the decimal point (decimal places). The data thereby is "scaled" in a qualitative and quantitative way. All data are stored in parameters and transmitted as parameter values (for explanations on parameters see chapter "Parameters, Basics" in chapter "Handling, Diagnostic and Service Functions"). The scaling of the parameters containing data of the following physical values can be defined by the customer: • position • velocity • acceleration • torque/force DOK-INDRV*-FU*********-IB01-EN-P
Rexroth IndraDrive Commissioning and Parameterization 7-119 Preferred Scaling/ Parameter Scaling Linear and Rotary Data Motor Reference/Load Reference Absolute/Modulo Evaluation Basic Scaling Settings Settings and Tips for Modulo Scaling DOK-INDRV*-FU*********-IB01-EN-P • temperature To simplify the scaling definition so-called "preferred scalings" were predefined. But physical data can also be exchanged in the controlinternal format, i.e. without concrete reference to physical units. To do this, the scaling for certain data can be freely set ("parameter scaling"). Depending on the kind of motion of motor or load, the data can be displayed • in linear form (linear axis or motor motion) - or - • in rotary form (rotary axis or motor motion) In the drive firmware there are mechanical transfer elements between motor and load mapped by means of mathematical models. The physical data can thereby be referred to • the point where the load takes effect (load-side data reference) - or - • the point where the force is input (motor-side data reference). For technical reasons, the value range of the position data the controller can display is limited. In the case of axes with limited travel range (e.g. linear axes), the current axis position within the controller-side value range can be unequivocally displayed (see "Measuring Systems: "Basics on Measuring Systems, Resolution" in chapter "Motor, Mechanical Axis System, Measuring Systems"). In the case of axes with unlimited travel range (e.g. rotary axes) it is useful to limit the infinite value range of the position data to a finite value. With continuous motion the value range is recurrently run from minimum to maximum value ("modulo" evaluation of the actual position value). First make the basic scaling settings for position, velocity, acceleration and torque/force data. This is only possible in the parameter mode (communication phase 2). You have to determine: • scaling type (rotary/linear/without scaling/percentage-based, if necessary) • unit of measurement and unit of time, if necessary • data reference (motor/load) • absolute/modulo format for position data • preferred scaling (predefined) or parameter scaling (can be individually defined) To do this, set the respective bits in the following parameters: • S-0-0076, Position data scaling type • S-0-0044, Velocity data scaling type • S-0-0160, Acceleration data scaling type • S-0-0086, Torque/force data scaling type When selecting "modulo format" the value range limit has to be set in parameter S-0-0103, Modulo value. Note: For "modulo format" enter a value greater than or equal to the value of parameter S-0-0103 in parameter S-0-0278, Maximum travel range!
Page 1 and 2:
Electric Drives Linear Motion and a
Page 3 and 4:
Rexroth IndraDrive Contents I Conte
Page 5 and 6:
Rexroth IndraDrive Contents III Mul
Page 7 and 8:
Rexroth IndraDrive Introducing the
Page 9 and 10:
Page 11 and 12:
Page 13 and 14:
Page 15 and 16:
Page 17 and 18:
Page 19 and 20:
Page 21 and 22:
Page 23 and 24:
Page 25 and 26:
Page 27 and 28:
Rexroth IndraDrive Important Direct
Page 29 and 30:
Rexroth IndraDrive Safety Instructi
Page 31 and 32:
Page 33 and 34:
Page 35 and 36:
Page 37 and 38:
Page 39 and 40:
Page 41 and 42:
Rexroth IndraDrive Identification,
Page 43 and 44:
Page 45 and 46:
Page 47 and 48:
Page 49 and 50:
Page 51 and 52:
Rexroth IndraDrive Electrical Data
Page 53 and 54:
Page 55 and 56:
Page 57 and 58:
Page 59 and 60:
Page 61 and 62:
Page 63 and 64:
Page 65 and 66:
Page 67 and 68:
Page 69 and 70:
Page 71 and 72:
Page 73 and 74:
Page 75 and 76:
Page 77 and 78:
Rexroth IndraDrive Mounting and Ins
Page 79 and 80:
Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Page 87 and 88:
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Page 97 and 98:
Page 99 and 100:
Page 101 and 102:
Page 103 and 104:
Page 105 and 106:
Page 107 and 108:
Page 109 and 110:
Page 111 and 112:
Page 113 and 114:
Page 115 and 116:
Page 117 and 118:
Page 119 and 120:
Page 121 and 122:
Page 123 and 124:
Page 125 and 126:
Page 127 and 128:
Page 129 and 130:
Page 131 and 132:
Page 133 and 134:
Page 135 and 136:
Page 137 and 138:
Page 139 and 140:
Page 141 and 142:
Page 143 and 144:
Page 145 and 146:
Page 147 and 148:
Page 149 and 150:
Page 151 and 152:
Page 153 and 154:
Page 155 and 156:
Page 157 and 158:
Page 159 and 160:
Page 161 and 162:
Page 163 and 164:
Rexroth IndraDrive Commissioning an
Page 165 and 166:
Page 167 and 168:
Page 169 and 170:
Page 171 and 172:
Page 173 and 174:
Page 175 and 176:
Page 177 and 178:
Page 179 and 180:
Page 181 and 182:
Page 183 and 184:
Page 185 and 186:
Page 187 and 188:
Page 189 and 190:
Page 191 and 192:
Page 193 and 194:
Page 195 and 196:
Page 197 and 198:
Page 199 and 200:
Page 201 and 202:
Page 203 and 204:
Page 205 and 206:
Page 207 and 208:
Page 209 and 210:
Page 211 and 212:
Page 213 and 214:
Page 215 and 216:
Page 217 and 218:
Page 219 and 220:
Page 221 and 222:
Page 223 and 224:
Page 225 and 226:
Page 227 and 228:
Page 229 and 230: Rexroth IndraDrive Commissioning an
Page 279: Rexroth IndraDrive Commissioning an
Page 301 and 302: Rexroth IndraDrive Diagnostic and S
Page 331 and 332:
Rexroth IndraDrive Diagnostic and S
Page 333 and 334:
Page 335 and 336:
Page 337 and 338:
Page 339 and 340:
Rexroth IndraDrive Service & Suppor
Page 341 and 342:
Page 343 and 344:
Page 345 and 346:
Rexroth IndraDrive Index 10-1 10 In
Page 347 and 348:
Rexroth IndraDrive Index 10-3 DOK-I
Page 349 and 350:
Page 351 and 352:
Page 353 and 354:
Page 355 and 356:
Rexroth IndraDrive Index 10-11 DOK-
Page 358:
R911314905 Bosch Rexroth AG Electri
show all

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

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?