Stop Initial Commissioning Mode - Bosch Rexroth CKL Series Commissioning

23 Stop Initial Commissioning Mode

23.1 Stop initial commissioning mode with digital Hall or without Hall sensor
23.1.1 Steps for stopping initial commissioning mode with digital Hall or without
Hall sensor:
1. In the Explorer tree, select Commutation Settings.
2. Uncheck box Initial commissioning mode
If using a digital Hall sensor:
• After the initial commutation/homing procedure, the commutation offset (P-0-0508)
is stored in the IndraDrive Cs. Therefore, on subsequent drive power cycles and/or
PM→OM state changes, the CKL is operational with full force after homing to the same
reference point used in the initial commissioning homing. If no homing command is
performed the CKL is operational with a reduced force (see Firmware help for parameter
P-0-0509 Commutation offset coarse). Re-determining the commutation offset is only
necessary after mechanically servicing the linear motor, encoder, or Hall sensor.
If not using a Hall sensor:
• The commutation offset is not stored in the IndraDrive Cs. Therefore, on subsequent
drive power cycles and/or PM→OM state changes, after drive power is enabled, the
drive immediately determines the commutation offset using the stored Amplitude and
Frequency test signal parameters, i.e. drive performs axis moving Sine-Wave Method.
3. Verify Commutation status word (parameter P-0-0519) by the Parameter editor, enter
"p519" in the IDN field. In the value field, Bit1 (the 2nd digit from right-side LSB) value
should be 1 = Active, correction value was determined, full 100% capacity according to
initial commissioning!
4. If parameter P-0-0519 Bit1=0, re-determine the commutation offset (see flowchart).
For detailed information, see the Rexroth IndraDrive MPx-17 (or later) Functions Applications
Manual sections "Commutation Setting" and "Sine-Wave Method".
Stop Initial Commissioning Mode
01.2015, USL00010, Bosch Rexroth Corp.
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