Bosch Rexroth IndraDrive MPH-02 Functional Description page 263

MPH-02, MPB-02, MPD-02
Features
Pertinent Parameters
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
The velocity loop is a PI loop that can be parameterized via S-0-0100,
Velocity loop proportional gain and S-0-0101, Velocity loop integral
action time.
• The setting can be made by
• executing the "Load defaults procedure" function once or
• manual optimization (see description below).
• Depending on the control performance that was set, a cycle time of
125 µs (advanced) or 250 µs (basic) is used for the velocity loop (cf.
P-0-0556, bit 2).
• velocity mix of motor encoder velocity
• 4 freely configurable 2
resonance frequencies
• moving average filter of the control loop deviation for a maximum of 16
controller clocks (as a feedback filter, in the case of low-resolution
motor measuring systems)
• low-pass filter via P-0-0004 (VZ1)
• fine interpolation of the command values of the position controller (can
be switched off)
• velocity control loop monitor (can be switched off via P-0-0556, bit 1)
• optional acceleration feedforward from the speed command value
(with filter possibility)
• S-0-0037, Additive velocity command value
• S-0-0040, Velocity feedback value
• S-0-0081, Additive torque/force command value
• S-0-0091, Bipolar velocity limit value
• S-0-0100, Velocity loop proportional gain
• S-0-0101, Velocity loop integral action time
• S-0-0149, C1300 Positive stop drive procedure command
• S-0-0155, Friction compensation
• S-0-0347, Velocity error
• P-0-0451, Actual acceleration torque/force value
• P-0-0452, Actual process torque/force value
• P-0-0004, Velocity loop smoothing time constant
• P-0-0048, Effective velocity command value
• P-0-0049, Effective torque/force command value
• P-0-0180, Acceleration feedforward smoothing time constant
• P-0-0555, Controller status word
• P-0-0556, Control word of axis controller
• P-0-1119, Velocity mix factor feedback 1 & 2
• P-0-1120, Velocity control loop filter: filter type
• P-0-1121, Velocity control loop filter: limit frequency of low pass
• P-0-1122, Velocity control loop filter: bandwidth of band-stop
filter
• P-0-1123, Vel. cont. loop filter: center frequency of band-stop
filter
• P-0-1125, Velocity control loop: average value filter clock
• P-0-1126, Velocity control loop: acceleration feed forward
nd
order filters (e.g. band-stop filters) for filtering
6-51
Drive Control