Setting And Optimizing The Control Loop; General Procedure - Bosch rexroth MBT Manual

MBT High Synchronous Torque Motors
13.8

Setting and optimizing the control loop

13.8.1

General procedure

A detailed description of the different methods is given in the firm‐
ware description for Rexroth IndraDrive controllers DOK-INDRV*-
MP*-02VRS**-FK□□-□□-P.
The control loop settings in a digital drive controller have an essential impor‐
tance for the properties of the servo axis. The control loop structure consists
of a cascaded position, velocity and current controller. Which controller is ac‐
tive is defined by the operation mode.
Defining the control loop settings requires the corresponding ex‐
pertise.
Refer to the functional description of the drive controller for more
detailed information.
Control loop setting and optimization
of synchronous torque motors
Current loop setting
(Part of motor parameters)
Optimization
Velocity loop
Filtering of mechanical
resonance oscilations
No
Optimization
Position loop
Setting and o ptimi zation
Acceleration forward control
Fig. 13-4: Setting and optimizing the control loop of synchronous torque motors
Commissioning, operation and maintenance
Yes
Setting of out of frequency
Repeating optimization
Velocity loop
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