Optimizing The Drive Parameters; General - Bosch Rexroth IndraMotion MTX micro Commissioning Manual

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Commissioning the Drives
8.4

Optimizing the Drive Parameters

8.4.1

General

Rexroth IndraMotion MTX micro Easy setup for Standard Turning and Milling Machines
After the basic drive parameters have been loaded, the controller parameters
should be adjusted to the mechanics of the machine. This optimizes the control
behavior of the drive. This step is only required for prototype machines. Serial
machines can be operated with the optimized parameters. Proceed as follows:
1. Prepare the optimization
● Test connection on/off.
● Test the E-stop.
● Jog the axis.
● Move the axis approximately to the center of the travel range.
2. Start the "Easy Startup Mode" of the drive.
3. Optimize the velocity control loop.
● Measure the possible bandwidth.
● Set the Kp and Tn parameters.
● Check the settings of the velocity control loop.
4. Exit the "Easy Startup Mode" of the drive.
5. Optimize the position control loop.
● Set the Kv parameter.
● Set the acceleration feedforward.
● Set the jerk limitation.
After the drive has been optimized, the machine must be turned off
and on again.
Axes and spindles require optimization of the velocity and the po‐
sition control loops. Please note that the gear stages must each be
optimized separately for spindles with gear switching.
DOK-MTXMIC-EASY*******-CO04-EN-P