Position Loop With Drive-Internal Interpolation; Notes On Commissioning - Bosch Rexroth IndraDrive MPH-02 Functional Description

7-24
Operating Modes

Position Loop with Drive-Internal Interpolation

Notes on Commissioning

=
V
max
The position command value generated at the output of the command
value generator is displayed in parameter P-0-0434, Position command
value controller and can be output at the analog output.
In this operating mode, the same information as relevant in the "position
control with cyclic command value input" mode applies to the position
control loop.
See also figure "Overall structure of control loop" in chapter "Drive
Control"
See also "Position Loop" in section "Position Control with Cyclic
Command Value Input"
Effective Positioning Velocity
The drive reaches its maximum velocity after an acceleration phase with
the value set in parameter S-0-0260, Positioning Acceleration.
The maximum velocity during a positioning procedure is the result of:
− −
S 0 0259, Positionin g Velocity
Effective Acceleration and Deceleration
The maximum
Positioning Deceleration.
If the value in parameter S-0-0359, Positioning Deceleration equals
zero, the drive uses the parameter value of S-0-0260, Positioning
Acceleration for deceleration as well.
CAUTION
Smoothing Filter (or Jerk Filter)
In the "drive-internal interpolation" mode the position command value can
be filtered at the output of the positioning generator. The filter order of the
(moving) average filter available to do this (cf. P-0-0041 and P-0-0042) is
calculated on the basis of the preset positioning acceleration or the
positioning jerk.
This means that the parameterized acceleration or deceleration only
become effective after t = P-0-0042 * T
− −
S 0 0108, Feedrate
*
100
deceleration is defined
Property damage caused by incorrect
parameterization!
If the values for positioning deceleration and acceleration
are zero, the drive cannot brake. The preset target is
never reached or is overrun.
⇒ Always enter a value > 0 for positioning acceleration!
A,position
MPH-02, MPB-02, MPD-02
override
%
in parameter S-0-0359,
.
DOK-INDRV*-MP*-02VRS**-FK01-EN-P