Bosch Rexroth IndraDrive MPH-02 Functional Description page 240

6-28
Drive Control
Synchronous Motors with
Incremental Measuring System
Initial Commissioning of a
Synchronous Motor with
Incremental Measuring System
by Saturation Method
2. Make presettings for automatic determination of motor-specific
parameter values (P-0-0506, P-0-0507) of the test signal required for
determining the commutation offset:
• enter value "0" in P-0-0506, Amplitude for angle acquisition
3. Switch drive to operating mode ("AB"); start saturation method by
P-0-0524, C1200 Commutation offset setting command
4. After the current was supplied and the commutation offset value has
been successfully determined, this value, due to the initial
commissioning mode, is simultaneously stored in the following
parameters in the case of absolute measuring systems:
• P-0-0508, Commutation offset
• P-0-0521, Effective commutation offset,
• P-0-3008, Commutation offset, encoder memory (if available)
The execution of the command is now completed, it can be reset. The
drive now is operational.
Note: It is recommended to execute the command C1200 several
times over a pole pair or a distance between pole centers, to
generate and enter the average value of P-0-0521. Checking
and optimizing P-0-0521 by force or torque measurement at
the axis is recommended!
See also below "Manually Optimizing the Commutation Offset
Value"
5. In P-0-0522, Commutation setting control word deactivate the
initial commissioning mode by the respective bit! The value in P-0-
0508 resp. P-0-3008 is now write-protected.
Each time the drive is switched on again or the measuring system is
initialized the value stored in P-0-0508 resp. P-0-3008 is accepted in
P-0-0521 and becomes effective as the commutation offset value.
In the case of synchronous kit motors with incremental measuring
system, the saturation method is automatically started when setting drive
enable after the drive is switched on or after every initialization of the
measuring system. The drive is operational only after the commutation
offset has been successfully determined!
Note: The force development of the motor is guaranteed in a
reproducible way when, at the homing of the axis, the
optimized commutation
commissioning becomes effective!
1. In P-0-0522, Commutation setting control word activate:
• initial commissioning mode and
• saturation method
2. Make presettings for automatic determination of motor-specific
parameter values (P-0-0506, P-0-0507) of the test signal required for
determining the commutation offset:
• enter value "0" in P-0-0506, Amplitude for angle acquisition
3. Switch drive to operating mode ("AB"); start saturation method by
P-0-0524, C1200 Commutation offset setting command
MPH-02, MPB-02, MPD-02
offset value stored
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
at initial