Operating instructions

7-10 Commissioning and Parameterization Rexroth IndraDrive
DOK-INDRV*-FU*********-IB01-EN-P
• While the default control loop parameter values and the motor type
parameter is loaded the controller signals:
C07_0 Load defaults procedure com. (load controller param.)
• If the parameter values in the encoder data memory cannot be read:
C0706 Error when reading the controller parameters
• If the motor type connected to the controller has changed:
F2008 RL The motor type has changed.
• If an invalid value for the commutation offset is contained in the
encoder memory, the controller signals:
F2104 Commutation offset invalid
Load Defaults Procedure
For all Rexroth motors of the series with motor encoder data memory
(e.g. MHD, MKD, MKE, MSK and possibly MAD and MAF), the basic
settings for the controllers are stored and can be loaded to the drive by
executing the "load defaults procedure" command (S-0-0262).
There are two ways to activate the S-0-0262, C07_x Load defaults
procedure command parameter:
• Automatically when running up the drive by recognizing that the motor
type (cf. parameter S-0-0141) has changed. The display then reads
"RL" and the "load defaults procedure" command is internally started
by pressing the "Esc" button on the control panel, unless this was
deactivated in P-0-0556, Control word of axis controller.
• Starting the command by writing "11b" to parameter S-0-0262.
See also "Loading, Storing and Saving Parameters" in chapter "Handling,
Diagnostic and Service Functions"
Note: In order to start the "load defaults procedure" command the
value "0" (default setting) must have been set in parameter
P-0-4090, Index for C07 Load defaults procedure.
During the load defaults procedure, the following control loop parameters
are set to their default values optimized for the respective motor:
• S-0-0100, Velocity loop proportional gain
• S-0-0101, Velocity loop integral action time
• S-0-0104, Position loop Kv-factor
• S-0-0106, Current loop proportional gain 1
• S-0-0107, Current loop integral action time 1
• P-0-0004, Velocity loop smoothing time constant
Note: The default settings for the current loop (cf. S-0-0106 and
S-0-0107) are automatically adjusted to the currently
parameterized PWM frequency (cf. P-0-0001) and
performance setting (cf. P-0-0556)!
In addition, the following control loop parameters are set to their firmware-
side default values although there haven't been any default values stored
for them in the motor data memory:
• S-0-0348, Acceleration feedforward gain
• P-0-1125, Velocity control loop: average value filter clock
Diagnostic Messages
S-0-0262, C07_x Load defaults
procedure command