Operating instructions

7-122 Commissioning and Parameterization Rexroth IndraDrive
DOK-INDRV*-FU*********-IB01-EN-P
• stall protection loop (PI loop that can be optionally activated to
prevent breakdown of the machine when the torque limits are attained)
• slip compensation (feedforward of estimated slip of the machine by
means of slip compensation factor)
• calculation of output voltage by means of a U/f characteristic based
on motor model data
• subsequent trimming of magnetization via premagnetization factor, as
well as linear or square characteristic to be selected
• IxR boost (adjustable load-dependent feedforward of the output
voltage due to the voltage drop on the motor winding resistance)
• oscillation damping (adjustable load-dependent feedforward to
prevent velocity oscillations in the partial load and idling ranges)
• current limitation loop to protect the output stage of the drive
controller, as well as limitation to the effective peak current
• velocity search mode of a coasting machine after switching drive
enable on (can be set for the preset rotational direction or both
rotational directions)
• user-side torque/force limitation via enabled stall protection loop
Automatic Setting of Motor Control Parameters
For operating motors it is necessary to collect the values for motor
parameters (resistance values, inductances, ...), in order to determine the
motor control parameters (flux loop, voltage loop, current loop) with these
values.
Depending on the manufacturer and type of the motor to be controlled,
the values for motor parameters and motor control parameters are made
available to the controller in different ways:
For Rexroth motors the values for the motor and motor control
parameters are optimized and made available by the manufacturer. The
automatic setting of the motor control parameters by the drive firmware is
not required and not allowed for Rexroth motors!
• for motors with motor encoder data memory:
→ automatic loading of the parameters when drive is switched on (see
"Overview: Default Settings in the Motor Encoder Data Memory ("load
defaults procedure") in section "Closed-Loop Axis Control (Closed-
Loop Operation)")
• for motors without motor encoder data memory:
• loading the parameters via the commissioning tool "IndraWorks D"
from the motor data base (DriveBase)
- or -
• manually writing the individual parameters via the serial interface or
the master communication interface by means of a motor
parameter list
For third-party motors the drive firmware possesses commands by means
of which the values for the motor and motor control parameters are
generated depending on the available output data and the functional
principle of the motor.
The following commands are available for calculating values for the motor
and motor control parameters:
• C3200 Command Calculate motor data
1. calculating the motor parameter values for asynchronous motors
from the data on the type plate
Motors by Bosch Rexroth
Third-Party Motors