Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description page 191

ECODRIVE03-FL*-04VRS
Determining the Resonance
Frequency
Determining the Initial State of
the Control Loop
Turn Rejection Filter On and
Check the Effect
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
Fig. 8-24: Amplitude Response of the Rejection Filter as a Function of
Bandwidth (Qualitative)
To set the bandpass filter, we recommend proceeding as follows:
First set rejection filter to inactive
Presets
⇒ Set parameter CR06, Rejection bandwidth Velocity loop to 0.
⇒ Connect oscilloscope to analog output channels. Assign velocity
feedback value to analog output 1 (in B003, Analog output 1, signal
selection "B004" and in B004, Analog output 1 scaling enter the
scaling, e.g., 100 rpm / 10 volts)
- or -
⇒ Induce oscillation in the drive mechanics, e.g., tap lightly with a rubber
mallet.
⇒ Record the time history of the velocity oscillation with the oscilloscope
and analyze this record for salient frequencies.
⇒ Set the drive enable signal and optimize the velocity loop with the
rejection filter deactivated (see Chapter entitled "Setting the Velocity
Loop)."
⇒ Record the step response (high acceleration) of the velocity feedback
value and the torque/force generating command current for a small
velocity command step (the torque-generating command current must
not reach the limits during this process.)
⇒ Enter the most salient frequency in Hz in parameter CR05, Rejection
frequency velocity loop.
⇒ Enter a minimum bandwidth in parameter CR06, Rejection
bandwidth velocity loop, e.g., 25Hz).
⇒ Record the previous step response again.
If the step response shows less overshoot and shorter oscillation
periods, then:
⇒ Check whether increasing the value of CR06, Rejection bandwidth
velocity loop produces additional improvement.
- or -
⇒ Check whether a change in the value of CR05, Rejection frequency
velocity loop produces additional improvement.
8-45
Functions
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