Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS - 8 Functions; 8.1 Operating Modes; 8.3 Homing

ECODRIVE03-FL*-04VRS Table of Contents VII
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
B009 Serial I/O Control for BTV04.......................................................................................9-39
B010 System Control...........................................................................................................9-40
B011 Fieldbus Cycle Time................................................................................................... 9-41
B012 Fieldbus Baudrate ......................................................................................................9-41
B013 Fieldbus Format..........................................................................................................9-42
B014 EMD Configuration .....................................................................................................9-42
9.5 Encoder Parameters...................................................................................................................9-43
C000 Working Polarity .........................................................................................................9-43
C001 Interface Feedback 1 (Motor)....................................................................................9-43
C002 Position Feedback 1 Type.........................................................................................9-44
C003 Feedback 1 Resolution (Motor)................................................................................. 9-45
C004 Interface Feedback 2 .................................................................................................9-45
C005 Position Feedback 2 Type.........................................................................................9-46
C006 Feedback 2 Resolution.............................................................................................. 9-46
C007 Feed Constant 2.........................................................................................................9-47
C008 Reserved....................................................................................................................9-47
C009 Homing Configuration.................................................................................................9-47
C010 Homing.......................................................................................................................9-48
C011 Reference Distance.................................................................................................... 9-48
C012 Home Switch Offset ...................................................................................................9-48
C013 Distance-Coded Reference Offsets ........................................................................... 9-49
C014 Encoder Emulation Configuration ..............................................................................9-49
C015 Encoder Emulation Resolution...................................................................................9-50
C016 Marker Pulse Offset ...................................................................................................9-50
C017 SSI Encoder (Press Encoder).................................................................................... 9-51
C018 SSI Encoder Homing..................................................................................................9-52
C019 SSI Encoder Reference Distance .............................................................................. 9-52
9.6 Control Parameters.....................................................................................................................9-53
CR00 Current Loop Proportional Gain 1.............................................................................. 9-53
CR01 Current Loop Integral Action Time 1.......................................................................... 9-53
CR02 Velocity Loop Proportional Gain................................................................................ 9-54
CR03 Velocity Loop Integral Action Time............................................................................9-55
CR04 Velocity Loop Smoothing Time Constant ..................................................................9-56
CR05 Rejection Frequency Velocity Loop...........................................................................9-56
CR06 Rejection Bandwidth Velocity Loop ........................................................................... 9-57
CR07 Kv Factor ................................................................................................................... 9-57
CR08 Acceleration Feedforward Gain.................................................................................9-58
CR09 Switching Frequency ................................................................................................. 9-59
CR10 Actual Position Filter, Time Constant for Measuring Wheel Mode............................9-59
9.7 Motor Parameters .......................................................................................................................9-60
CM00 Motor Type ................................................................................................................9-60
CM01 Bipolar Torque/Force Limit Value.............................................................................. 9-60
CM02 Motor Peak Current / Stall Current............................................................................9-61
CM03 Maximum Motor Speed .............................................................................................9-61
CM04 Number of Pole Pairs/Pole Pair Distance .................................................................9-62
CM05 Torque/Force Constant ............................................................................................. 9-62