Bosch Rexroth IndraDrive MPH-02 Functional Description page 232

6-20
Drive Control
Measuring Systems for
Synchronous Third-Party Motors
Overview of the Synchronous
Motors to be Used for Motor
Measuring Systems
Determining the
Commutation Offset
Note: If you use an incremental motor encoder, using the Hall
sensor box SHL01.1 is absolutely recommended! This realizes
highest safety with regard to correct motor function and
compliance with the power data!
For operationally reliable drives with synchronous third-party motors and
IndraDrive controllers there are, with regard to the selected measuring
system, the same principles applying as for synchronous Rexroth kit
motors (see above); the Hall sensor box SHL, however, cannot be used
for third-party motors!
Motor measuring Synchronous
system Rexroth Kit
Motors
absolute
relative
+ : advantageous combination
o : combination possible, initial commissioning might possible require
especially trained staff
- : combination not useful
Fig. 6-15: Possible combinations of motor measuring system and synchronous
motors for which commutation setting is required
Note: The measuring system should be realized with high resolution
and as a motor encoder to be evaluated in absolute form. If it
is necessary to use an incremental measuring system the use
of encoders with square-wave signals should be avoided!
See also "Absolute Measuring Systems" in chapter "Motor,
Mechanical Axis System, Measuring Systems"
Note: In the case of absolute measuring systems, the commutation
offset only
commissioning), manually via command start; in the case of
incremental measuring systems (without SHL01.1), it is
automatically determined again each time the drive is switched
on! Differences in the values can occur when commutation
offset is determined again, this can cause different drive
behavior!
The commutation offset can be determined with different methods. The
method is chosen in accordance with the axis geometry, the practicability
and the success of the respective method depending on the mechanical
axis system:
• calculation method for relative motor encoder when using the Hall
sensor box
(distance measurement, currentless → only possible for Rexroth linear
kit motors, see documentation "Hall Sensor Box SHL01.1")
• measuring method for motor encoders that can be evaluated in
absolute form
(distance measurement, currentless → only possible for Rexroth linear
kit motors)
MPH-02, MPB-02, MPD-02
Synchronous
Rexroth Kit Motor
with SHL01.1
+ -
o +
has to be determined
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Synchronous
third-party
motor
+
o
once (at initial