Quadrant Error Correction - Bosch Rexroth IndraDrive MPH-02 Functional Description

8-68
Drive Functions
Activating the Function

Quadrant Error Correction

Expansion package servo function (order designation SRV) in closed-loop-characteristic (only MPH)
Pertinent Parameters
The gradient of the approximated straight line is the value of the position-
dependent temperature factor. By means of the value from the series of
measurements it is possible to calculate the position-dependent
temperature factor:
− − =
P 0 0406
P-0-0406: axis correction temperature factor pos.-dependent
n: number of measured values
∆T
: temperature difference at which the correction value x
n
determined
correction value at the temperature difference ∆T
x :
kn
Fig. 8-63: Calculating the position-dependent temperature factor from the
values of the series of measurements
In order to determine the factor as precisely as possible, it is useful to
record the series of measurements at several positions.
The resulting temperature factor is determined by the arithmetical mean
of the calculated temperature factors.
The position-dependent temperature correction is activated when the
value of parameter P-0-0406, Axis correction temperature factor pos.-
dependent is greater than zero.
Note: With the value zero in parameter P-0-0406 the function of
position-dependent temperature correction is deactivated. This
correction function requires position data reference for the
measuring system to the corrected!
Brief Description
In the case of axis drives that are controlled, for example, in circular
interpolation, static friction at the reversal points of the direction of motion
can cause distortion of the circular contour.
In order to compensate this contour error at the so-called "quadrant
transitions" (velocity reversal), IndraDrive controllers provide the
"quadrant error correction" function.
This correction function are useful for such cases when drives are
operated in circular interpolation by the control master.
• P-0-0100, Position command value extension
• P-0-0435, Control word of position controller
• P-0-0436, Reference radius for quadrant error correction
• P-0-0437, Velocity time range for quadrant error correction
• P-0-0438, Table of path velocities for quadrant error correction
• P-0-0439, Table of velocity pulse for quadrant error correction
MPH-02, MPB-02, MPD-02
∑ ∑
× ∆ × − ∆
n ( T x )
n kn
∑ ∑
× ∆ −
n T ² (
n
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
∑
×
T x
n kn
∆
T )²
n
was
kn
n