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MBT High Synchronous Torque Motors
13.6
Determining the polarity of the encoder system
Direction of rotation of the motor
In order to avoid direct feedback in the velocity control loop, the effective di‐
rection of the motor torque and the count direction of the encoder system
must identical.
WARNING
⇒ Secure against uncontrolled movement
⇒ Setting the effective direction of the motor torque to the counter direction of
the encoder system
Position, velocity and force data may not be inverted when the encoder sys‐
tem count direction is set. Ensure that the following parameters are set be‐
fore the encoder polarity is checked:
Parameter
Description
S-0-0085
Torque/force polarity parameter
S-0-0043
Velocity polarity parameter
S-0-0055
Position polarity
Tab. 13-3:
Table of polarity parameters
The encoder polarity is set by means of parameter S-0-0277, Position feed‐
back 1 type (bit 3); see
fig. 13-2 "Direction of rotation of the rotor, as viewed
from the cable output side at the stator (MST)" on page 390
"Parameter S-0-0277" on page
The direction of rotation of the motor or the rotor of MBT motors can be deter‐
mined by means of the cable output side at the stator.
The following example starts from the assumption that the encoder manufac‐
turer has provided a positive count direction with a view to the encoder shaft
and the encoder shaft rotating in clockwise direction.
For the actual definition of the count direction of your encoder, please refer to
the encoder manufacturer's encoder data sheet.
Commissioning, operation and maintenance
Different effective directions of motor torque
and count direction of the encoder system
cause uncontrolled movements of the motor
upon switch-on!
Value
0000000000000000
0000000000000000
0000000000000000
390.
R911298798_Edition 08 Bosch Rexroth AG
389/409
and
tab. 13-4
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