Technical data

12-8 Startup, Operation and Maintenance Rexroth IndraDyn H
DOK-MOTOR*-MBS-H******-PR02-EN-P
12.5 Determining the Polarity of the Encoder System
In order to avoid direct feedback in the velocity control circuit, the
effective direction of the motor torque and the counting direction of the
encoder system must be the same.
WARNING
Different effective directions of the motor torque
and the counting direction of the encoder
system cause uncontrolled movements of the
motor upon power-up!
⇒ Take measures against uncontrolled movement.
⇒ Set the effective direction of the motor torque so
that it is the same as the counting direction of the
encoder system.
Before checking the encoder polarity, ensure that the following
parameters are set according to Fig. 12-4.
ID number Description Value
S-0-0085 Torque/force polarity
parameter
0000000000000000
S-0-0043 Velocity polarity
parameter
0000000000000000
S-0-0055 Position polarity 0000000000000000
Fig. 12-4: Table of polarity parameters
The encoder polarity is selected via parameter
S-0-0277, Position encoder type 1 (Bit 3)
The position, velocity and force data must not be inverted when the
encoder system counting direction is set:
S-0-0085, Force polarity parameter: 0000000000000000
S-0-0043, Velocity polarity parameter: 0000000000000000
S-0-0055, Position polarities: 0000000000000000
Note: After the polarity of the encoder has been set, it must be
ascertained that the encoder supplies positive signals when
the motor turns clockwise or that it supplies negative signals
when the motor turns counterclockwise.