Bosch Rexroth IndraDrive MPH-02 Functional Description page 481

MPH-02, MPB-02, MPD-02
Requirements
Preparations
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
v
S-0-0124
M
cmd
S-0-0124: standstill window
S-0-0155: friction compensation
Fig. 8-29: Functional principle of friction compensation
Note: A hysteresis was implemented in the reversal point so that the
compensation value is only added when the drive velocity is
outside the standstill window (cf. S-0-0124).
Notes on Commissioning
The following requirements must have been fulfilled for using this
function:
• The friction torque of the axis must have a relevant value.
With a friction torque component of less than 10 % of the nominal
torque of the drive used, friction torque compensation won't have any
important effect.
• The friction torque to be compensated must be more approximately
constant, independent of the current machining process.
Before activating the function the following preparations must be made:
• Velocity and position control loops must have been set according to
the notes on commissioning.
See "Commissioning and Parameterizing the Control Loops" in
chapter "Operating Modes"
• The master must have been connected and allow moving the drive
(e.g. jog function).
• The travel range limits of the axis must have been set and activated
(cf. P-0-0090, S-0-0049, S-0-0050).
• If the friction characteristic of the axis is highly temperature-
dependent, the drive has to be brought to operating temperature
before determining the compensation value.
• Set the torque limit to minimum value so that the drive cannot
surmount the static friction and does not move in spite of command
value input.
Note: If the drive can only be moved in position control, the lag error
monitor has to be switched off, as otherwise the F2028
Excessive deviation error can occur during determination of
the compensation value!
Drive Functions
reversal of direction
t
S-0-0155
t
DK0018v1.fh7
8-49