Bosch Rexroth IndraDrive MPH-02 Functional Description page 247

MPH-02, MPB-02, MPD-02
cmd. value adjustment
(depending on oper. mode)
master
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
drive controller
oper. mode 2
oper. mode 1
Fig. 6-23: Principle of drive control in open-loop operation
Features
The velocity control has the following features:
• fine interpolation of the velocity command value (can be switched off)
• monitoring of the velocity control loop (can be switched off via
P-0-0556, bit 1)
• filtering of actual velocity value to be parameterized
• additive velocity command value (S-0-0037)
• display of resulting command value (in P-0-0048)
• monitoring and limitation of the maximum stator frequency change
that results from the command velocity change
• stall protection loop (PI loop that can be optionally activated to
prevent breakdown of the machine when the torque limits are attained)
• slip compensation (feedforward of estimated slip of the machine by
means of rotor time constant and slip compensation factor)
• calculation of output voltage by means of a U/f characteristic based
on motor model data
• subsequent trimming of magnetization via premagnetization factor
(linear or square characteristic to be selected)
• IxR boost (adjustable load-dependent feedforward of the output
voltage due to the voltage drop on the motor winding resistance)
• oscillation damping (adjustable load-dependent feedforward to
prevent velocity oscillations in the partial load and idling ranges)
• current limitation loop to protect the output stage
• velocity search mode of a coasting machine after switching drive
enable on (can be set for one or both rotational directions)
Pertinent Parameters
• S-0-0037, Additive velocity command value
• S-0-0040, Velocity feedback value
• S-0-0091, Bipolar velocity limit value
• P-0-0048, Effective velocity command value
• P-0-0049, Effective torque/force command value
• P-0-0555, Status word of axis controller
• P-0-0556, Control word of axis controller
open-loop drive control
open-loop
motor control
(U/f)
- without encoder -
limitation
torque/current
6-35
Drive Control
DF000090v01_en.fh7