Bosch Rexroth CKL Series - Verify Commutation Offset; Verify Commutation Offset with Hall Sensor

01.2015, USL00010, Bosch Rexroth Corp.
21 VerifyCommutationOset
21.1VerifycommutationosetwithdigitalHallorwithoutHallsensor
21.1.1 StepsforverifyingcommutationosetwithdigitalHallorwithoutHallsensor:
1. If not already, start Easy Startup Mode and enable power.
2. Select Cmd value input.
3. Select Torque input.
4. Enter a safe torque/force command value, suggest start from low to high, for following
cases:
• Value = 10-30%, for zero to light payload on carriage
• Value = 20-50%, for medium to heavy payload on carriage
5. Press the ± arrow keys to command negative/positive current control movement of the axis.
ATTENTION:
Prior to this command, the axis position must allow UNRESTRICTED MOVEMENT!
WARNING: Stay clear, axis will MOVE!
6. If axis moves smoothly in the expected direction, then the commutation oset has been
veried*. If not, then repeat Determine Commutation Oset procedure (see owchart).
NOTE: Veried* = this is a practical eld method using current loop control only, i.e. without
inuence of the velocity and position loop controllers. Depending on the application, further
commutation oset optimization may be required. For further details, please see the Rexroth
IndraDrive MPx-17 (or later) Functions Applications Manual sections “Commutation Setting”
and “Sine-Wave Method”.
35 VerifyCommutationOset