Bosch Rexroth IndraDrive MPH-02 Functional Description page 503

MPH-02, MPB-02, MPD-02
Recommended Steps of
Commissioning
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Notes on Commissioning
For commissioning it is necessary to move the drive by the control master
in cyclic circular interpolation. The quality of the circular form has to be
determined, in the ideal case with measuring equipment for circular form
testing.
The quadrant error correction should be commissioned in the following
steps:
1. Presettings:
• enter value for P-0-0436, Reference radius for quadrant error
correction
• set quadrant error correction inactive in P-0-0435, Control word of
position controller
• set P-0-0437, Velocity time range for quadrant error correction
to "0"
• write 20% and 40% (list lines 1 and 2), for example, of maximum
circular velocity to P-0-0438, Table of path velocities for
quadrant error correction
• in P-0-0439, Table of velocity pulse for quadrant error
correction write the value "0" to first two list lines
2. Move drive on control side in circular interpolation with 50% of
maximum circular velocity, check quality of circular form with
measuring equipment for circular form testing
3. Set quadrant error correction active in P-0-0435, Control word of
position controller
4. Write approx. 1% of current path velocity to list line 2 of P-0-0439,
Table of velocity pulse for quadrant error correction
5. Increase P-0-0437, Velocity time range for quadrant error
correction starting with low values, observe quality of circular form
with measuring equipment; increase values until maximum quality of
circular form has been reached
If quality of circular form does not improve, write lower or higher value
to list line 2 of P-0-0439, depending on tendency of improvement of
circular form quality.
6. After optimum value was written to P-0-0437, operate drive with other,
different circular velocities in order to determine optimum values for
P-0-0439.
Note: Observe interpolation data (see above) for the velocity pulse
amplitude depending on the current path velocities (P-0-0438
and P-0-0439)!
8-71
Drive Functions