力士乐Rexroth驱动器调试手册_力士乐驱动器调试指南,力士乐驱动器调试

力士乐驱动器

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Table of Contents

Page

1 System Overview......................................................................................................... 15

1.1

General Information.............................................................................................................................. 15

1.1.1 About This Documentation................................................................................................................ 15

1.1.2 How to Use This Documentation....................................................................................................... 16

Structure of the Functional Description.......................................................................................... 16

Markers and Terms........................................................................................................................ 17

Cross References........................................................................................................................... 17

Reference Documentations............................................................................................................ 17

1.1.3 Overview of Drive Firmware.............................................................................................................. 19

Firmware Variants.......................................................................................................................... 19

Organization of the Firmware......................................................................................................... 20

1.2 Terms, Basic Principles........................................................................................................................ 20

1.2.1 Parameters........................................................................................................................................ 20

1.2.2 Data Storage and Parameter Handling............................................................................................. 20

1.2.3 Password........................................................................................................................................... 21

1.2.4 Commands........................................................................................................................................ 22

1.2.5 Operation Modes............................................................................................................................... 22

1.2.6 Warnings........................................................................................................................................... 23

1.2.7 Errors................................................................................................................................................. 23

1.3 Drive Controllers................................................................................................................................... 24

1.3.1 Overview............................................................................................................................................ 24

Standard Design of the IndraDrive Controllers............................................................................... 24

1.3.2 Power Sections.................................................................................................................................. 25

1.3.3 Control Sections................................................................................................................................ 26

Available Control Section Designs................................................................................................. 26

Supported Control Section Configurations..................................................................................... 26

1.4 Supported Motors and Measuring Systems.......................................................................................... 28

1.4.1 Supported Motors.............................................................................................................................. 28

1.4.2 Supported Measuring Systems......................................................................................................... 28

1.5 Overview of Master Communication..................................................................................................... 28

1.6 Overview of Functions/Functional Packages........................................................................................ 29

1.6.1 Overview............................................................................................................................................ 29

General Information........................................................................................................................ 29

Scaling the Drive Functionality....................................................................................................... 29

Brief Description of the Functional Packages................................................................................. 31

Firmware Types.............................................................................................................................. 32

1.6.2 Base Packages.................................................................................................................................. 33

General Information........................................................................................................................ 33

Basic Functions.............................................................................................................................. 33

Scope of Functions of Base Packages........................................................................................... 34

1.6.3 Alternative Functional Packages....................................................................................................... 34

General Information........................................................................................................................ 34

Servo Function............................................................................................................................... 34

Synchronization.............................................................................................................................. 35

Release Notes | Rexroth IndraDrive Electric Drives

and Controls

| Bosch Rexroth AG I/XIV

Table of Contents

Page

Main Spindle Function.................................................................................................................... 36

1.6.4

Additive Functional Packages........................................................................................................... 36

General Information........................................................................................................................ 36

IndraMotion MLD (Drive-Integrated PLC)....................................................................................... 36

Integrated Safety Technology......................................................................................................... 37

1.7 Performance Data................................................................................................................................. 38

1.7.1 Overview............................................................................................................................................ 38

Levels of Control Performance....................................................................................................... 38

Performance and Clock Rates........................................................................................................ 38

1.7.2 Control Section Design and Performance......................................................................................... 39

1.7.3 Selecting Performance via Parameter P-0-0556............................................................................... 40

1.7.4 PWM Frequency Reduction Depending on Load.............................................................................. 41

1.7.5 PWM Frequency Reduction Depending on Speed ........................................................................... 41

1.7.6 Rotor-Synchronous PWM.................................................................................................................. 41

1.7.7 Restricted Performance With Certain Functional Packages.............................................................. 41

2 Important Directions for Use ....................................................................................... 43

2.1 Appropriate Use ................................................................................................................................... 43

2.1.1 Introduction........................................................................................................................................ 43

2.1.2 Areas of Use and Application............................................................................................................ 43

2.2 Inappropriate Use................................................................................................................................. 44

3 Safety Instructions for Electric Drives and Controls .................................................... 45

3.1 Definitions of Terms.............................................................................................................................. 45

3.2 General Information.............................................................................................................................. 46

3.2.1 Using the Safety Instructions and Passing Them on to Others......................................................... 46

3.2.2 Requirements for Safe Use............................................................................................................... 46

3.2.3 Hazards by Improper Use.................................................................................................................. 47

3.2.4 Explanation of Safety Symbols and Hazard Classification................................................................ 48

3.3 Instructions with Regard to Specific Dangers....................................................................................... 48

3.3.1 Protection Against Contact with Electrical Parts and Housings......................................................... 48

3.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock ................................................ 49

3.3.3 Protection Against Dangerous Movements....................................................................................... 50

3.3.4 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting.............. 52

3.3.5 Protection Against Contact with Hot Parts......................................................................................... 52

3.3.6 Protection During Handling and Mounting......................................................................................... 53

3.3.7 Battery Safety.................................................................................................................................... 53

3.3.8 Protection Against Pressurized Systems........................................................................................... 53

4 Master Communication................................................................................................ 55

4.1 Basic Functions of Master Communication.......................................................................................... 55

4.1.1 Brief Description................................................................................................................................ 55

General Information........................................................................................................................ 55

Features......................................................................................................................................... 55

Pertinent Parameters...................................................................................................................... 55

II/XIV Bosch Rexroth AG | Electric Drives

and Controls

Rexroth IndraDrive | Release Notes

Table of Contents

Page

Pertinent Commands...................................................................................................................... 56

4.1.2

Setting the Axis Address................................................................................................................... 57

Overview......................................................................................................................................... 57

Address Setting via Standard Control Panel.................................................................................. 57

Address Setting via Parameter Access.......................................................................................... 58

4.1.3 Command Processing....................................................................................................................... 59

Overview......................................................................................................................................... 59

Command Execution...................................................................................................................... 59

Command Change Bit.................................................................................................................... 60

4.1.4 Device Control and State Machines.................................................................................................. 61

Overview......................................................................................................................................... 61

Device-Internal State Machine....................................................................................................... 62

State Machine of Master Communication....................................................................................... 64

Communication Phases of Master Communication........................................................................ 67

Control Words and Status Words of Master Communication......................................................... 69

Timing Diagrams for Device Control............................................................................................... 71

Commands and Diagnostic Messages for Mode Change and Phase Switch................................ 74

4.2 Control Options/Additional Functions................................................................................................... 77

4.2.1 Configurable Signal Control Word..................................................................................................... 77

Brief Description............................................................................................................................. 77

4.2.2 Configurable Signal Status Word...................................................................................................... 78

Brief Description............................................................................................................................. 78

4.3 Multiplex Channel................................................................................................................................. 78

4.3.1 Brief Description................................................................................................................................ 78

4.4 Operating Modes of Master Communication........................................................................................ 79

4.4.1 Introduction and Overview................................................................................................................. 79

Overview of Operating Modes and Possibilities of Command Triggering...................................... 79

Normal Operation (via Internal or External Control Unit)................................................................ 81

Local Setting-Up Mode/Emergency Mode ("Easy Startup Mode")................................................. 82

4.4.2 Normal Mode (Remote or Local)....................................................................................................... 82

Remote Mode With External Control Unit and Active Master Communication............................... 82

MLD Mode With Permanent Control (Stand-Alone Motion Control)............................................... 83

4.4.3 Setting-Up Mode (Easy Startup Mode).............................................................................................. 83

Brief Description of Easy Startup Mode.......................................................................................... 83

Functional Description of Easy Startup Mode................................................................................ 84

Notes on Commissioning for Easy Startup Mode........................................................................... 86

4.4.4 Local Mode........................................................................................................................................ 91

Overview......................................................................................................................................... 91

MLD Mode With Temporary Control (Intelligent Servo Axis).......................................................... 91

Emergency Mode (When Master Communication has Failed)....................................................... 91

4.5 Profile Types (With Field Bus Interfaces)............................................................................................. 92

4.5.1 Supported Profile Types.................................................................................................................... 92

Overview......................................................................................................................................... 92

Basic Principles and Terms............................................................................................................ 93

4.5.2 I/O Mode (Positioning and Preset Velocity)....................................................................................... 94

Brief Description............................................................................................................................. 94

Release Notes | Rexroth IndraDrive Electric Drives

and Controls

| Bosch Rexroth AG III/XIV