Technical data

12-10 Operating Torque Motors Rexroth IndraDyn T
DOK-MOTOR*-MBT********-PR03-EN-P
12.7 Commutation Adjustment
DANGER
Malfunctions due to the activation of motors
and moving elements!
Commutation adjustment must always be
performed in the following cases:
⇒ Initial commissioning
⇒ Modification of the mechanical attachment of the
encoder system
⇒ Exchange 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 motor torque = count direction
of encoder system
⇒ Adhere to the described setting procedures
⇒ Correct motor and encoder parameterization
⇒ Expedient parameter values must be assigned for
current and velocity control loop
⇒ Correct connection of motor power cable
⇒ Protection against uncontrolled movements
Setting the correct commutation angle is a prerequisite for maximum and
constant torque development of the synchronous torque 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, “Electrical Connection”.
Different commutation adjustment procedures have been implemented in
the firmware. The selection must be done via parameter P-0-0522. The
following figure gives an overview of the relationship between the encoder
system used and the procedure to be used.
Motor connection
Adjustment procedure