Bosch Rexroth IndraDrive MPH-02 Functional Description page 148

5-24
Motor, Mechanical Axis System, Measuring Systems
Pertinent Parameters
Pertinent Diagnostic Messages
• measuring method for motor encoder that can be evaluated in
absolute form (distance measurement, currentless Å only possible
with linear kit motors)
• saturation method (with current Å possible with all types of
construction in combination with motor encoders that can be evaluated
in absolute form and with relative motor encoders)
Note: In the case of absolute measuring systems, the commutation
offset only
commissioning), in the case of incremental measuring
systems this has to be done each time the drive is switched on
again!
See "Motor Control: Commutation Setting" in chapter "Drive Control"
Apart from the motor parameters (see parameter overview in section
"Basics on the Motors to be Controlled"), there are further parameters
available for the commutation setting of synchronous kit motors:
• P-0-0506, Voltage amplitude for angle acquisition
• P-0-0507, Test frequency for angle acquisition
• P-0-0508, Commutation offset
• P-0-0521, Effective commutation offset
• P-0-0522, Control word for commutation setting
• P-0-0523, Commutation setting measured value
• P-0-0524, C1200 Commutation offset setting command
• P-0-3008, Commutation offset, encoder memory
• C1200 Commutation offset setting command
• C1204 Error in offset calculation
• C1208 No adjustment with asynchronous motor
• C1209 Proceed to phase 4
• C1214 Command only possible with linear synchronous motor
• C1215 Command only possible in 'bb'
• C1216 Commutation determination not selected
• C1217 Setting only possible in 'Ab'
• C1218 Automatic commutation: current too low
• C1219 Automatic commutation: overcurrent
• C1220 Automatic commutation: timeout
• C1221 Automatic commutation: iteration without result
• C1222 Error when writing offset parameters
• F2032 Plausibility error during commutation fine adjust
• F8013 Automatic commutation: current too low
• F8014 Automatic commutation: overcurrent
• F8015 Automatic commutation: timeout
• F8016 Automatic commutation: iteration without result
MPH-02, MPB-02, MPD-02
has to be determined
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
once (at initial