Technical data

Rexroth IndraDyn H Startup, Operation and Maintenance 12-9
DOK-MOTOR*-MBS-H******-PR02-EN-P
12.6 Commutation Adjustment
DANGER
Malfunction due to errors in activating motors
and moving elements!
Commutation adjustment must always be
performed in the following cases:
⇒ Startup
⇒ Modification of the mechanical attachment
of the encoder system
⇒ Replacement of the encoder system
⇒ Modification of the mechanical attachment of the
stator and/or rotor
WARNING
Malfunction and/or uncontrolled motor
movement due to error in commutation
adjustment!
⇒ Effective direction of the motor torque = counting
direction of the encoder system
⇒ Adhere to the described setting procedures
⇒ Correct motor and encoder parameterization
⇒ Expedient parameter values must be assigned to
the current and velocity control circuit
⇒ Correct connection of the motor power cable
⇒ Protection against uncontrolled movements
Setting the correct commutation angle is a prerequisite for maximum and
constant torque development of the frameless synchronous motor.
This procedure ensures that the angle between the current vector of the
stator and the flux vector of the rotor is always 90°. The motor supplies
the maximum torque in this state.
The individual phases of the motor power connection must be assigned
correctly. See also chapter 8, “Connection Techniques”.
Different commutation adjustment procedures have been implemented
in the firmware. Parameter P-0-0522 is used to make the selection. The
following figure provides an overview of the relationship between the
encoder system that is used and the procedure to be implemented.
Motor connection
Adjustment procedure