Velocity Control Loop Monitoring; Setting The Position Controller - Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description

ECODRIVE03-FL*-04VRS

Velocity Control Loop Monitoring

Setting the Position Controller

Requirements:
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
If the velocity control loop monitor detects an error in the velocity control
loop,, the error message
• F878 Velocity loop error
is entered.
Reasons for Triggering of Monitor
The velocity control loop monitor is designed to monitor for those faults
that could lead the motor to begin turning in the wrong direction. Basically,
the following are possible:
• reversed polarity when motor is connected
• wrong commutation angle
• faults in the velocity encoder
Note: The purpose is to prevent the "runaway effect" in the motor.
Criteria for Triggering the Monitor
The following criteria must be met for the velocity control loop monitor to
be triggered :
• the command value for current is limited to the effective peak
current.
• the motor is accelerating in the wrong direction
• the actual velocity value is > 0.0125*n
Current and velocity loops must be correctly set.
The position loop can be set using the following parameter
• CR07, Position Loop Kv Factor
This loop can be set by either executing the "Basic load" function or by
following the procedure below.
Preparations for Setting the Position Control Loop
A number of preparations must be made in order to be able to set the
position loop properly:
• The mechanical system must be completely assembled and ready for
operation, so that the original conditions are present for determining
the parameters.
• The drive controller must be properly connected as described in the
user manual.
• The safety limit switches (if present) must be checked for correct
operation.
• Operate the drive in a mode that closes the position loop in the drive
(Operating Mode: Position Control").
• The subordinate velocity loop must be properly tuned. The start value
chosen for the K -factor should be relatively small. (K
v
• For the determination of
compensation function should be activated.
Functions
Max
= 1)
v
the position loop parameters, no
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