Automatic Setting Of Axis Control - Bosch Rexroth IndraDrive MPH-02 Functional Description

6-42
Drive Control

Automatic Setting of Axis Control

Features
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
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
Note: In the majority of cases, the controller settings stored in the
motor encoder data memory provide a useful and reliable
control loop setting. In exceptional cases, however, it may be
necessary to make the settings with regard to the specific
application.
Brief Description
To facilitate drive parameterization, the IndraDrive firmware provides
automatic control loop setting in closed-loop operation. Parameters
P-0-0163, Damping factor for autom. controller adjust and P-0-0164,
Application for autom. controller adjust can be used to influence the
result of the control loop setting (obtained control loop dynamics).
Note: To carry out the automatic control loop setting it is necessary
to move the drive. The velocity and position control loops are
optimized.
• definition of a travel range for movement control for the automatic
control loop setting by
•
absolute travel limits
- or -
• entering a travel distance based on the current actual position
• use of drive-internal interpolation and its parameters
MPH-02, MPB-02, MPD-02
PWM frequency (cf.
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
P-0-0001) and