Operating instructions

7-120 Commissioning and Parameterization Rexroth IndraDrive
DOK-INDRV*-FU*********-IB01-EN-P
WARNING
Danger of incorrect actual position value of
encoders evaluated in absolute form after
switching the drive on, when the mechanical
drive system, with the drive switched off, was
moved in the case of modulo scaling!
Make sure that the mechanical drive system, with the
drive switched off, is as a maximum moved by a
distance or angle corresponding to half the absolute
encoder range (S-0-0378, Absolute encoder range
of motor encoder or S-0-0379, Absolute encoder
range of optional encoder)!
In addition, make the scaling setting for temperature data in parameter
S-0-0208, Temperature data scaling type.
Individual Settings for Parameter Scaling
position data:
• S-0-0077, Linear position data scaling factor position data
• S-0-0078, Linear position data scaling exponent
- or -
• S-0-0079, Rotational position resolution
velocity data:
• S-0-0045, Velocity data scaling factor
• S-0-0046, Velocity data scaling exponent
acceleration data:
• S-0-0161, Acceleration data scaling factor
• S-0-0162, Acceleration data scaling exponent
Diagnostic Messages of Scaling Setting
If inadmissible scaling settings were made, they are detected when
switching from parameter mode (communication phase 2) to operating
mode (communication phase 4). The drive in this case does not reach the
operating mode and, according to setting, displays the following
command errors:
• C0122 Incorr. parameteriz. of motor enc. (mechanical system)
• C0123 Modulo value for motor encoder cannot be displayed
• C0127 Incorr. parameteriz. of opt. enc. (mechanical system)
• C0128 Modulo value for optional encoder cannot be displayed
• C0140 Rotary scaling not allowed
• C0101 Invalid parameters (see S-0-0021)
• C0102 Limit error in parameter (-> S-0-0021)
• C0103 Parameter conversion error (->S-0-0021)
Example of Scaling Settings
There are many possibilities to make settings for the scaling type. The
table below shows useful settings for which there aren't any command
errors to be expected:
Temperature Scaling
Further Settings for Parameter
Scaling