Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description page 9

ECODRIVE03-FL*-04VRS
B009 Serial I/O Control for BTV04....................................................................................... 9-39
B010 System Control ........................................................................................................... 9-40
B011 Fieldbus Cycle Time................................................................................................... 9-41
B012 Fieldbus Baudrate ...................................................................................................... 9-41
B013 Fieldbus Format.......................................................................................................... 9-42
B014 EMD Configuration ..................................................................................................... 9-42
9.5 Encoder Parameters ................................................................................................................... 9-43
C000 Working Polarity ......................................................................................................... 9-43
C001 Interface Feedback 1 (Motor).................................................................................... 9-43
C002 Position Feedback 1 Type......................................................................................... 9-44
C003 Feedback 1 Resolution (Motor)................................................................................. 9-45
C004 Interface Feedback 2 ................................................................................................. 9-45
C005 Position Feedback 2 Type......................................................................................... 9-46
C006 Feedback 2 Resolution.............................................................................................. 9-46
C007 Feed Constant 2......................................................................................................... 9-47
C008 Reserved .................................................................................................................... 9-47
C009 Homing Configuration................................................................................................. 9-47
C010 Homing ....................................................................................................................... 9-48
C011 Reference Distance.................................................................................................... 9-48
C012 Home Switch Offset ................................................................................................... 9-48
C013 Distance-Coded Reference Offsets ........................................................................... 9-49
C014 Encoder Emulation Configuration .............................................................................. 9-49
C015 Encoder Emulation Resolution................................................................................... 9-50
C016 Marker Pulse Offset ................................................................................................... 9-50
C017 SSI Encoder (Press Encoder) .................................................................................... 9-51
C018 SSI Encoder Homing.................................................................................................. 9-52
C019 SSI Encoder Reference Distance .............................................................................. 9-52
9.6 Control Parameters ..................................................................................................................... 9-53
CR00 Current Loop Proportional Gain 1.............................................................................. 9-53
CR01 Current Loop Integral Action Time 1.......................................................................... 9-53
CR02 Velocity Loop Proportional Gain ................................................................................ 9-54
CR03 Velocity Loop Integral Action Time ............................................................................ 9-55
CR04 Velocity Loop Smoothing Time Constant .................................................................. 9-56
CR05 Rejection Frequency Velocity Loop ........................................................................... 9-56
CR06 Rejection Bandwidth Velocity Loop ........................................................................... 9-57
CR07 Kv Factor ................................................................................................................... 9-57
CR08 Acceleration Feedforward Gain ................................................................................. 9-58
CR09 Switching Frequency ................................................................................................. 9-59
CR10 Actual Position Filter, Time Constant for Measuring Wheel Mode............................ 9-59
9.7 Motor Parameters ....................................................................................................................... 9-60
CM00 Motor Type ................................................................................................................ 9-60
CM01 Bipolar Torque/Force Limit Value.............................................................................. 9-60
CM02 Motor Peak Current / Stall Current............................................................................ 9-61
CM03 Maximum Motor Speed ............................................................................................. 9-61
CM04 Number of Pole Pairs/Pole Pair Distance ................................................................. 9-62
CM05 Torque/Force Constant ............................................................................................. 9-62
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
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