Technical data

Rexroth IndraDyn T Operating Torque Motors 12-9
DOK-MOTOR*-MBT********-PR03-EN-P
12.6 Determining the Polarity of the Encoder System
In order to avoid direct feedback in the velocity control loop, the effective
direction of the motor force and the count direction of the encoder system
must be the same.
WARNING
Different effective directions of motor torque
and count direction of the encoder system
cause uncontrolled movements of the motor
upon power-up!
⇒ Ensure that uncontrolled movements do not occur.
⇒ Effective direction of motor torque = count direction
of encoder system.
Make sure that the following parameters according to Fig. 12-4 are
adjusted before the encoder polarity test.
ID number Description Value
S-0-0085 Torque/force polarity
parameter
0000000000000000
S-0-0043 Velocity polarity
parameter
0000000000000000
S-0-0055 Position polarities 0000000000000000
Fig. 12-4: Table of polarity parameters
The encoder polarity is selected via parameter
S-0-0277, position feedback type 1 (bit 3)
Position, velocity and force data must not be inverted when the encoder
system count direction is set:
S-0-0085, Torque/force polarity parameter 0000000000000000
S-0-0043, Velocity polarity parameter 0000000000000000
S-0-0055, Position polarities 0000000000000000
Note: After adjusting the polarity of the encoder, it must be ensured
that the encoder supplies positive signals for clockwise motor
rotation and negative signals for counterclockwise motor
rotation.