Bosch Rexroth IndraDrive MPH-02 Functional Description page 241

MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
4. After the current was supplied and the commutation offset value has
been successfully determined this value is contained in P-0-0521,
Effective commutation offset. The drive now is operational. In
addition, the motor-specific values for P-0-0506 and P-0-0507 were
stored.
Note: The motor-specific values for P-0-0506 and P-0-0507 should
be checked for their safe function, independent of the position.
To do this, set axis to several different positions within one
pole pair or pole pair distance, execute command C1200 each
time and write down value of P-0-0521. If P-0-0521 shows
great deviations (> approx. +/-30) or error messages are
generated, the values of P-0-0506 and P-0-0507 have to be
automatically generated again (see above) or subsequently
manually optimized.
− With error message "F8013" (current too low):
→ increase
(P-0-0507)
− With error message "F8014" (overcurrent):
→ reduce
(P-0-0507)
If error message "F8013" occurs, but the deviation of P-0-0521
is within the allowed range of values (< approx. +/-30), further
measures can be taken as described for F8013 in the
Troubleshooting Guide!
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 Commut. Offset Value"
5. Now switch drive to parameter mode (P2). After switching back to
operating mode, set "AF" and test function of drive. This automatically
start the determination of the commutation offset with the stored
parameters (P-0-0506, P-0-0507, P-0-0517). The motor is supplied
with current and the commutation offset determined again.
Test commutation behavior of the drive at several different positions.
If it is not satisfactory, repeat manual optimization of P-0-0506,
P-0-0507, P-0-0517 as described below.
Note: If inadmissible values are generated for P-0-0521, Effective
commutation offset and therefore the message F8078
Speed loop error appears although there wasn't any error
signaled during commutation determination, the value of
parameter P-0-0517, Commutation: required harmonics
component has to be increased!
6. Now start S-0-0148, C0600 Drive-controlled homing procedure
command. By this command, due to the active initial commissioning
mode, the value of P-0-0521 referring to an arbitrary position is
converted to the position of the home point and stored in P-0-0508,
Commutation offset and P-0-3008, Commutation offset, encoder
memory (if available).
voltage (P-0-0506),
voltage (P-0-0506), increase
6-29
Drive Control
reduce frequency
frequency