Prerequisites for Commissioning
2–9
1070 066 037-101 (00.02) GB
Making the necessary settings in the rho (PHG: mode 7.8.2)
Use the PHG2000 to set and save parameters in the rho. For more infor-
mation, please refer to the machine parameter manual of rho.
Make sure that parameter P5 (”clock start time”) matches the setting of
drive parameter S-0-0002 in all drives!
For rho4: P30 (”I/O Configuration CAN bus”), item ”Baud rate” of CAN bus 1
and CAN bus 2, if available, must correspond to the settings on the drive side
(rotary switch S4; page 2–4).
Check whether the existing number of axes has been properly set in P302
(”Number of axes of the kinematics”) and matches the number of invert-
ers connected.
Make sure that P401 (”Construction of measuring system board”) and
its sub-queries have been properly set for each applied axis (cf. rho machine
parameters).
The axis addresses of the inverters (rotary switches S2 and S3; page
2–4) must have been correctly assigned to the individual rho axes using
the ”CAN input” sub-parameter.
The ”Drive type” sub-parameters must have been assigned the value ”1”
(Servodyn-D).
The ”Number rotations” sub-parameters must be assigned as follows for
the applied axes:
when an SF motor with MTG is connected: input ”4096”
when an SF motor with an STG or
an SR motor is connected: input ”1”
For motors with an MTG, no settings have to be made for the abso-
lute encoders at the drives because the rho assumes the handling
of this encoder type.
The ”Pulses/Rotation” sub-parameters must be permanently set to
”8192”.
For the ”Measuring system conversion factor” sub-parameter, the follow-
ing applies for calculation: M
C
= 8192 / path.
Assign the value ”0” to P701 for every applied axis.
This deactivates the download of parameter group 7xx to the correspond-
ing drive for the time being.
Save all modified data in the rho.
After saving, rho automatically performs a shut-down with subsequent
booting.
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