Recording The Jump Response Of The Velocity Loop - Bosch Rexroth IndraMotion MTX micro Easy Setup Manual

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Commissioning the drives
9.4.4

Recording the jump response of the velocity loop

IndraMotion MTX micro Easy Setup for Standard Turning and Milling Machines
After the Kp and Tn values have been set, the jump response of the control‐
ler is recorded to check and/or further optimize the settings.
First select the "Square-wave signal" in the "Drive Integrated Command Val‐
ue Generator" dialog. Define the value of the amplitude according to Kp. In
general, we recommend that a value between 1000 mm/min and 2000
mm/min be selected for axes and a value between 10 rpm and 20 rpm for
spindles. Select S-0-0037 from the "Target parameter" box. Then select "pe‐
riodic signal generation".
Fig. 9-15: "Drive-integrated command value generator"
Open the "Oscilloscope" on the Engineering Desktop under "Diagnostics".
Then configure the "Recording time" and the "Memory depth" according to
the values in the "Drive-integrated command value generator". Select "Con‐
figure" and set "Trigger", "Trigger signal", "Threshold value", and "Edge" ac‐
cordingly. Select the signals to be measured by clicking on "Signals". A maxi‐
mum of 4 signals can be measured at the same time. The signals required in
the example are S-0-0040 (current velocity), S-0-0084 (current torque) and
S-0-0189 (current lag error).
DOK-MTXMIC-EASY*******-CO06-EN-P