Commutation Adjustment; General - Bosch rexroth MCL Project Planning Manual

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Commissioning, operation and maintenance
14.6

Commutation adjustment

14.6.1

General

Adjustment procedure
Bosch Rexroth AG R911330592_Edition 06
The encoder polarity is always set in regard to the primary part
(cable connection). The installation direction or pole sequence of
the secondary part does not have any impact on the encoder po‐
larity setting.
The encoder polarity is set via parameters
S-0-0277, Position encoder type 1 (Bit 3)
Position, velocity and force data must not be inverted when the length meas‐
uring system count direction is set:
S-0-0085, Torque/force polarity parameter: 0000000000000000
S-0-0043, Velocity polarity parameter 0000000000000000
S-0-0055, Position polarity 0000000000000000
The force of the synchronous linear motor can only develop to a maximum
and constant degree, if the commutation angle is set correctly.
Commutation adjustment always has to be performed in the fol‐
lowing cases:
⇒ Initial commissioning
⇒ Modification of the mechanical attachment of the linear scale
⇒ Length measuring system replacement
⇒ Modification of the mechanical attachment of the primary and/or
secondary part
This procedure ensures that the angle between the current vector of the pri‐
mary part and the flux vector of the secondary part is always 90°. The motor
supplies the maximum force in this state.
Different commutation adjustment procedures have been implemented in the
firmware. The following figure shows the connection between the length
measuring system used and the procedure to be applied.
MCL Ironless Linear Motors