Rexroth Housing Motors With Encoder Data Memory - Bosch Rexroth IndraDrive MPH-02 Functional Description

MPH-02, MPB-02, MPD-02

Rexroth Housing Motors with Encoder Data Memory

Pertinent Parameters
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Motor, Mechanical Axis System, Measuring Systems
The following Rexroth housing motors are equipped with an encoder data
memory:
• MHD, MKE, MKD
• in preparation: MSK, MSH, MAD, MAF, MAL
Note: The Bosch motor with the type designation "SF..." that can be
operated with IndraDrive controllers is equipped with an
encoder data memory, too. As regards commissioning and
parameters, SF motors have the same behavior as Rexroth
housing motors with encoder data memory!
Brief Description
See section "Basics on Rexroth Motors"
The encoder data memory contains the following parameters.
Motor parameters:
• P-0-2141, Motor type, encoder memory
• P-0-2109, Motor peak current, encoder memory
• P-0-2111, Motor current at standstill, encoder memory
• P-0-2113, Maximum velocity of motor, encoder memory
• P-0-3002, Number of pole pairs/pole pair distance, encoder
memory
• P-0-3003, Rotor inertia, encoder memory
• P-0-3005, Torque/force constant, encoder memory
• P-0-3006, Kind of motor, encoder memory
• P-0-3007, Stator resistance, encoder memory
• P-0-3008, Commutation offset, encoder memory
• P-0-3050, Motor inductance, encoder memory
Parameters for measuring system:
• P-0-1000, Kind of encoder 1, encoder memory
• P-0-1001, Encoder 1 resolution, encoder memory
Only for absolute encoders (multi-turn):
• P-0-1002, Absolute encoder offset 1, encoder memory
Only for resolvers as absolute encoders (multi-turn resolvers):
• P-0-1003, Pulse wire encoder offset 1, encoder memory
• P-0-1004, Pulse wire encoder status 1, encoder memory
Parameters for motor holding brake (if available):
• P-0-3010, Torque of motor holding brake, encoder memory
Default control loop parameters:
• P-0-2100, Velocity controller proportional gain, encoder memory
• P-0-2101,
Velocity
memory
• P-0-2104, Position controller Kv-factor, encoder memory
• P-0-2106, Current controller proportional gain 1, encoder memory
• P-0-2107, Current controller integral-action time 1, encoder
memory
controller integral-action
5-19
time, encoder