Bosch Rexroth IndraDrive MPH-02 Functional Description page 264

6-52
Drive Control
Pertinent Diagnostic Messages
Fine Interpolator
Units of the Processed Data
Velocity Loop
• P-0-2100, Velocity controller proportional gain, encoder memory
• P-0-2101,
Velocity
memory
• P-0-3004, Speed controller smoothing time constant, encoder
memory
• E2059 Velocity command value limit active
• F8078 Speed loop error
• E8260 Torque/force command value limit active
Functional Description
The velocity command value can be smoothed by means of a fine
interpolator via 2 steps. This is useful, for example, for cyclic position
control with particularly great position command value jumps (long cycle
times, cf. S-0-0001 and S-0-0002).
command value
velocity command
fine interpolation
value
P-0-0556
S-0-0037: additive velocity command value
S-0-0091: bipolar velocity limit value
P-0-0048: effective velocity command value
P-0-0556: control word of axis controller
Fig. 6-35: Fine interpolation of the velocity command value
Note: The fine interpolator can be activated via bit 0 in parameter
P-0-0556, Control word of axis controller.
The physical data in the velocity control loop have the following units:
• velocity data:
• acceleration data:
clock
• torque data:
The velocity loop designed as a PI loop can be set via the following
parameters:
• S-0-0100, Velocity loop proportional gain
• S-0-0101, Velocity loop integral action time
The respective parameter settings depend on the mechanical properties
(mass inertia, stiffness, ...) of the motors and the connected mechanical
system.
• In the case of Rexroth motors with motor data memory, a default
controller setting that is appropriate for most of the standard
applications is stored in this memory.
• For Rexroth motors without motor data memory and third-party motors
the controller settings have to be determined during commissioning.
See also section "Notes on Commissioning" for velocity loop
MPH-02, MPB-02, MPD-02
controller integral-action
+
Bit 0
S-0-0037
S-0-0091
rpm or mm/min
(rpm)/controller clock or (mm/min)/controller
Nm or N
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
time, encoder
P-0-0048
DF000113v01_en.fh7