Bosch Rexroth CKL Series Guida

Commissioning the CKL Drive

Controller

USL00010

01.2015

Bosch Rexroth Corp., USL00010, 01.2015

The data specied only serve to describe the

product. No statements concerning a certain

condition or suitability for a certain application

can be derived from our information. Catalog

specications do not constitute assured

characteristics. The information given does

not release the user from the obligation of

own judgment and verication. It must be

remembered that our products are subject to a

natural process of wear and aging.

specications and other information set forth in

it, are the exclusive property of Bosch Rexroth

Corp. It may not be reproduced or given to

third parties without its consent.

Original instruction manual.

01.2015, USL00010, Bosch Rexroth Corp.

Contents

1 General 4

2 Commissioning 4

3 Commissioning Flowcharts 5

4 Preconditions 8

5 Network Connection 9

6 Firmware 11

7 Language Selection 14

8 Master Communication 15

9 Power Supply 16

10 Scaling/Mechanical System 17

11 Limit Values 19

12 Motor 21

13 Motor Encoder 26

14 Data Reference Motor Encoder 27

15 Axis Control Parameters 28

16 Commutation Settings 29

17 Easy Startup Mode 30

18 Drive Error Diagnostics 31

19 DetermineCommutationOset 33

20 Enable Drive Power 34

21 VerifyCommutationOset 35

22 Home Axis 36

23 Stop Initial Commissioning Mode 37

24 Save/Backup Parameters 38

25 Move Axis 39

26 Optimize Control Loops 40

3Contents

Bosch Rexroth Corp., USL00010, 01.2015

1 General

1.1 Scope and purpose of the documentation

• This document is intended to be a guideline for initial axis commissioning of the CKL Linear

Motor Module.

• The parameters found within are based solely on the use of Bosch Rexroth IndraDrive Cs

servo drives.

• For 3rd Party Servo Drives, while items on the initial parameter set may be the same, expect

minor adjustment requirements depending on the Drives‘ Manufacturer recommendations.

2 Commissioning

• Verify actual CKL system in-hand and all Preconditions (see page 5).

• Print or display the “Commissioning Flowchart” Part 1 and Part 2 relevant to Hall sensor

type as you commission the CKL system.

• Step through the owchart by reading the relevant instruction pages.

• Please be advised, the instruction pages are NOT meant to be completely read straight-

through in page order. For example, if using analog Hall sensor, not all instruction pages are

necessary (see owchart). Furthermore, depending on success/failure of a step, looping

through previous steps might be required (see owchart).

4General Information

01.2015, USL00010, Bosch Rexroth Corp.

3 Commissioning Flowcharts

3.1 Commissioning Flowchart – Part 1



Digitalornone

Analog

StartInitialCommissioning

NetworkConnection

Firmware

LanguageSelection

MasterCommunication

PowerSupply

Scaling/MechanicalSystem

LimitValues

DataReferenceMotorEncoder



Preconditions

Motor



MotorEncoder



HallSensor?

AnalogHall

DigitalHallorwithoutHall

AxisControlParameters



Proceed to Part 2 for relevent Hall Sensor type.

5Commissioning Flowcharts

Bosch Rexroth Corp., USL00010, 01.2015

3.2 Commissioning Flowchart – Part 2 – Analog Hall

AnalogHall

Yes

No

EasyStartupMode



PMtoOM?

DriveErrorDiagnostics



HomeAxis



FinishedInitialCommissioning

EnableDrivePower



Yes,with

Basic

Parameters

Yes,withOptimizedParameters

No

SaveBasicParameters



OptimizeControlLoops



MoveAxis



MotionOK?

SaveOptimizedParameters



6Commissioning Flowcharts

01.2015, USL00010, Bosch Rexroth Corp.

3.3 Commissioning Flowchart – Part 2 – Digital Hall or without Hall

No

Yes

DigitalHallorwithoutHall

No

Yes

No

CommutationSettings



EasyStartupMode



PMtoOM?

DriveErrorDiagnostics



DetermineCommutationOffset



Successful?

VerifyCommutationOffset



StopInitialCommissioningMode



SaveBasicParameters



DisableDrivePower



FinishedInitialCommissioning

EnableDrivePower



OptimizeControlLoops



ManuallyRepositionAxistoAllow

UnrestrictedMovement



MoveAxis



MotionOK?

SaveOptimizedParameters



HomeAxis



Yes,with

Basic

Parameters

Yes,withOptimizedParameters

NotOK

OK

P519Bit1=1,commutationoffsetoptimizedtoref(homed)point

P519Bit1=0,commutationoffsetnotoptimized

7Commissioning Flowcharts

Bosch Rexroth Corp., USL00010, 01.2015

4 Preconditions

4.1 Commissioning the CKL drive controller

4.1.1 Hardware

Compact Module CKL

System size Carriage length Primary part Secondary part

CKL 110 180 mm MCP030B-V180-NI-xxCN-NNNN MCS030-3S-xxxx-NNNN

240 mm MCP030C-V180-NI-xxCN-NNNN MCS030-3S-xxxx-NNNN

300 mm MCP030D-V180-NI-xxCN-NNNN MCS030-3S-xxxx-NNNN

CKL 145 244 mm MCP040C-V300-NI-xxCN-NNNN MCS040-3S-xxxx-NNNN

364 mm MCP040E-V300-NI-xxCN-NNNN MCS040-3S-xxxx-NNNN

484 mm MCP040G-V300-NI-xxCN-NNNN MCS040-3S-xxxx-NNNN

CKL 200 237 mm MCP070C-V300-NI-xxCN-NNNN MCS070-3S-xxxx-NNNN

297 mm MCP070D-V300-NI-xxCN-NNNN MCS070-3S-xxxx-NNNN

417 mm MCP070F-V300-NI-xxCN-NNNN MCS070-3S-xxxx-NNNN

xx: L0 = digital Hall, L1 = analog Hall, N0 = without Hall

xxxx: 0120, 0180, 0300 = secondary part length mm, select any value

HCS01 IndraDrive Cs with Firmware MPx-17V08 or greater

Supported feedback combinations:

Firmware Encoder HCS01

connector

Hall unit HCS01

connector

Additional hardware requirement

MPE/B/C analog X4 without without none

MPE/B/C digital X4 without without none

MPE/B/C analog X4 digital X4 with SHL03 Hall sensor box

MPB/C digital X4 analog X8 with HCS01 dual encoder interface (EC-EC)

MPB/C analog X4 analog X8 with HCS01 dual encoder interface (EC-EC)

Firmware: MPE=Economy, MPB=Basic, MPC=Advanced

Encoder: digital encoder is supported but analog encoder is recommended with IndraDrive!

For detailed descriptions of rmware and encoders, please see the IndraDrive MPx-17 (or later) Functions

Applications Manual.

4.1.2 Software

• IndraWorks Ds 13VRS (recommended)

• IndraWorks Ds 12VRS (possible with caution*)

4.1.3 Operating System

• Windows 7 (recommended)

• Windows XP (possible with caution*)

NOTE: Caution* = software bugs, unexpected behavior, limited tests

8Preconditions

01.2015, USL00010, Bosch Rexroth Corp.

5 Network Connection

5.1 Connect PC to IndraDrive via the Non-Real Time (NRT) channel for

drive commissioning

5.1.1 Stepsforconguringthenetworkconnection:

1. Right mouse button click on Local Area Connection and select Properties in the pop-up

menu.

2. Select Internet Protocol (Windows XP) or Internet Protocol Version 4 (Windows 7).

3. Press the Properties button.

9Network Connection

Bosch Rexroth Corp., USL00010, 01.2015

5.1.1 Stepsforconguringthenetworkconnection(continued)

4. Enter a unique IP address for the PC (must be dierent than the IndraDrive, see

below note), then click inside the Subnet mask eld, the Subnet mask will default to

255.255.255.0.

5. Open IndraWorks Ds.

6. Enter the IP address of the IndraDrive, the default factory setting is 192.168.0.1.

7. Press the Browse button.

8. The connected IndraDrive appears with device information.

9. Press the OK button.

NOTE: If the IP address of the IndraDrive is 192.168.0.1, then the PC’s rst three dot-decimal

numbers must be the same (for example, 192.168.0.x). The fourth number (x) must be

dierent from that of the IndraDrive’s IP address, and be a number between 0 to 255.

10 Network Connection

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