Bosch Servodyn-D - Page 35

Initial commissioning
4–3
1070 066 037-101 (00.02) GB
Download parameter list for axis number ____ (drive address hex: __ __ ):
Parameter number / name
rho
defa lt
value
to be
Notes
and
rho Drive Name
default
value
to be
set
and
other values to be set
5 S-0-0002 CAN interface cycle time 20 rho: data in ms
701 – Turn parameter download on/off 0 1: download ON; 0: download OFF
702 S-0-0032 Main operating mode 3
3: position control; 11: as 3+feed-for-
ward control
703 S-0-0100 P-component of speed controller 50
ward control
704 S-0-0101 Integral-action component, speed controller 10
705 S-0-0106 P-component 1, current controller 1000
Notes on rho parameters 705
thro gh 709 and 723:
706 S-0-0107 Integral-action component 1, current controller 100000
through 709 and 723:
Since it is not known initially which
t i tdth df lt l
707 S-0-0119 P-component 2, current controller 1000
y
motor is connected, the default val-
ues were selected large enough as a
f
708 S-0-0120 Integral-action component 2, current controller 100000
ues
were
selected
large
enough
as
a
precaution to ensure that a fault mes-
sa
g
e will be
g
enerated whenever pa-
709 S-0-0200 Amplifier warning temperature 75
sage
will
be
generated
whenever
a-
rameters have been downloaded
without previousl
y
ad
j
ustin
g
the de-
710 S-0-0201 Motor warning temperature 145
without
previously
adjusting
the
de
-
fault values.
711 P-0-0001 Operating frequency of the power output stage 8000
712 P-0-0004 Halting mode with drive off 0
0: by S138; 1: by S260; 2: by rho
713 P-0-0013 Actual value smoothing interval of speed controller 250
714 P-0-0027 Braking current limitation 100
715 P-0-0120 Current setpoint filter: selection of filter type all 4: 0
716 P-0-0121 Current setpoint filter: Limit frequency of low pass filter all 4: 2000
717 P-0-0122 Current setpoint filter: Quality of band rejection filter all 4: 1
718 P-0-0123 Current setpoint filter: Center frequency of band rejec-
tion filter
all 4: 2000
719 P-0-0125 Control word, external enable 0
0: drive stops without setpoint control;
1: acc to P 0 0004
720 P-0-0505 Plug brake enable delay 200
1: acc. to P-0-0004
721 P-0-2000 Inport: Configuration list all 4: 0
722 P-0-2002 Outport: Configuration list 0
723 S-0-0091 Bipolar speed limit value 100000
724 S-X-0092 Bipolar torque limit value all 4: 300
725 S-0-0104 Loop gain factor of position controller 1
Notes on rho parameters 721 722
726 S-0-0126 Torque threshold Mdx 100
Notes on rho parameters 721, 722
and 733:
Th t h t b t d i
727 S-0-0138 Acceleration bipolar 100000
The parameters have to be entered in
the form of values as follows:
728 S-0-0159 Monitoring window 120
the
form
of
values
as
follows:
P parameters: Enter the appropriate
number,
729 S-0-0206 Waiting time drive on 0
number
,
e.g. P-0-2551  enter ”2551”
S
p
arameters:
S
ubtract
3
27
68
from
730 S-0-0207 Waiting time drive off 0
S
parameters:
Subtract
32768
from
the desired number and enter the re-
sult including the sign
731 S-0-0260 Positioning acceleration 1000
su
l
t
i
nc
l
u
di
ng t
h
e s
i
gn,
e.g. S-0-0331  enter ”–32437”.
Please note: the PHG does not dis
732 P-0-0500 Feedrate feed-forward control 80
Please note: the PHG does not dis-
play the negative sign!
733 P-0-2010 DAC channels: configuration list all 2: 0
734 P-0-2014 DAC channel 3: Maximum value, offset 0
735 P-0-2015 DAC channel 4: Maximum value, offset 0
736 P-0-0489 Special function, brake 0
737 S-0-0264 Command ”Save working memory” 3
3: save; 0 do not save
745 S-0-0204 Motor switch-off temperature 0 165