Operating instructions

Rexroth IndraDrive Commissioning and Parameterization 7-119
DOK-INDRV*-FU*********-IB01-EN-P
• temperature
To simplify the scaling definition so-called "preferred scalings" were
predefined. But physical data can also be exchanged in the control-
internal format, i.e. without concrete reference to physical units. To do
this, the scaling for certain data can be freely set ("parameter scaling").
Depending on the kind of motion of motor or load, the data can be
displayed
• in linear form (linear axis or motor motion)
- or -
• in rotary form (rotary axis or motor motion)
In the drive firmware there are mechanical transfer elements between
motor and load mapped by means of mathematical models. The physical
data can thereby be referred to
• the point where the load takes effect (load-side data reference)
- or -
• the point where the force is input (motor-side data reference).
For technical reasons, the value range of the position data the controller
can display is limited.
In the case of axes with limited travel range (e.g. linear axes), the current
axis position within the controller-side value range can be unequivocally
displayed (see "Measuring Systems: "Basics on Measuring Systems,
Resolution" in chapter "Motor, Mechanical Axis System, Measuring
Systems").
In the case of axes with unlimited travel range (e.g. rotary axes) it is
useful to limit the infinite value range of the position data to a finite value.
With continuous motion the value range is recurrently run from minimum
to maximum value ("modulo" evaluation of the actual position value).
First make the basic scaling settings for position, velocity, acceleration
and torque/force data. This is only possible in the parameter mode
(communication phase 2).
You have to determine:
• scaling type (rotary/linear/without scaling/percentage-based, if
necessary)
• unit of measurement and unit of time, if necessary
• data reference (motor/load)
• absolute/modulo format for position data
• preferred scaling (predefined) or parameter scaling (can be individually
defined)
To do this, set the respective bits in the following parameters:
• S-0-0076, Position data scaling type
• S-0-0044, Velocity data scaling type
• S-0-0160, Acceleration data scaling type
• S-0-0086, Torque/force data scaling type
When selecting "modulo format" the value range limit has to be set in
parameter S-0-0103, Modulo value.
Note: For "modulo format" enter a value greater than or equal to the
value of parameter S-0-0103 in parameter S-0-0278,
Maximum travel range!
Preferred Scaling/
Parameter Scaling
Linear and Rotary Data
Motor Reference/Load Reference
Absolute/Modulo Evaluation
Basic Scaling Settings
Settings and Tips for Modulo
Scaling