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MPH-02, MPB-02, MPD-02 Drive Control 6-35
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
master
oper. mode 2
oper. mode 1
DF000090v01_en.fh7
open-loop drive control
cmd. value adjustment
(depending on oper. mode)
drive controller
open-loop
motor control
(U/f)
- without encoder -
limitation
torque/current
Fig. 6-23: Principle of drive control in open-loop operation
Features
The velocity control has the following features:
• fine interpolation of the velocity command value (can be switched off)
• monitoring of the velocity control loop (can be switched off via
P-0-0556, bit 1)
• filtering of actual velocity value to be parameterized
• additive velocity command value (S-0-0037)
• display of resulting command value (in P-0-0048)
• monitoring and limitation of the maximum stator frequency change
that results from the command velocity change
• stall protection loop (PI loop that can be optionally activated to
prevent breakdown of the machine when the torque limits are attained)
• slip compensation (feedforward of estimated slip of the machine by
means of rotor time constant and slip compensation factor)
• calculation of output voltage by means of a U/f characteristic based
on motor model data
• subsequent trimming of magnetization via premagnetization factor
(linear or square characteristic to be selected)
• IxR boost (adjustable load-dependent feedforward of the output
voltage due to the voltage drop on the motor winding resistance)
• oscillation damping (adjustable load-dependent feedforward to
prevent velocity oscillations in the partial load and idling ranges)
• current limitation loop to protect the output stage
• velocity search mode of a coasting machine after switching drive
enable on (can be set for one or both rotational directions)
Pertinent Parameters
• S-0-0037, Additive velocity command value
• S-0-0040, Velocity feedback value
• S-0-0091, Bipolar velocity limit value
• P-0-0048, Effective velocity command value
• P-0-0049, Effective torque/force command value
• P-0-0555, Status word of axis controller
• P-0-0556, Control word of axis controller
- Rexroth IndraDrive 1
- MPH-02, MPB-02, MPD-02 1
- Contents 3
- 4 Master Communication 4-1 4
- 6 Drive Control 6-1 5
- 7 Operating Modes 7-1 6
- 8 Drive Functions 8-1 7
- 11 Commissioning 11-1 10
- 12 Index 12-1 10
- 13 Service & Support 13-1 10
- 1 System Overview 11
- Terms, Basic Principles 12
- Password 13
- Commands 14
- Operating Modes 15
- Warnings 15
- How to Use this Documentation 17
- Markers and Terms 18
- Cross References 19
- Further Documentations 19
- 1.2 Drive Controllers 20
- Power Sections 21
- Control Sections 21
- Control Section Configuration 22
- BASIC Single-Axis 23
- (CSB01.1) 23
- BASIC Double-Axis 24
- (CDB01.1) 24
- Supported Motors 25
- Supported Measuring Systems 25
- 1.4 Master Communication 26
- 1.5 Overview of Functions 27
- 1.6 Functional Packages 28
- Packages 29
- ADVANCED 30
- Additive Functional Packages 31
- Firmware Types That Can Be 33
- Base Packages 34
- Functions of the base 35
- Servo Function 37
- 2.1 Appropriate use 41
- 2.2 Inappropriate use 42
- 3.1 Introduction 43
- 3.2 Explanations 43
- 3.3 Hazards by Improper Use 44
- 3.4 General Information 45
- Voltage (PELV) 48
- During Operation and Mounting 51
- 3.11 Battery Safety 53
- 1 F4002 55
- 1.Er.Anz1 F2002 56
- 2.Comand 56
- Address Setting via Parameter 56
- Command Processing 57
- Command Change Bit 58
- (e.g. F8060) 60
- Master communication 62
- Device control 62
- IndraMotion 62
- DK000057v01_en.fh7 63
- DK000059v01_en.fh7 64
- Specification 65
- Transition Check Commands 67
- I/O Mode 75
- Profile Type) 79
- Rexroth profile type) 81
- Exemplary Configurations 82
- Drive-Internal Interpolation 83
- Drive-Controlled Positioning 84
- 4.4 SERCOS interface 86
- H20: distortion indicator LED 88
- Check the Fiber Optic Cable 90
- Checking the Transmission 90
- Cyclic Data Transfer 91
- Drive Enable 92
- Drive Halt 92
- Drive Status Word 92
- Acknowledging Drive Enable 92
- DK0006v1.fh7 93
- 4.5 PROFIBUS-DP 95
- Module 1: F-Module 98
- Module 2: Parameter Channel 98
- Module 3: Inputs 98
- Channel) 100
- FL - GL GL = 104
- MASTER SLAVE 105
- Processing the Cyclic Data 106
- Communication Cycle Time 106
- Monitoring Functions 107
- Diagnostic Possibilities 107
- 4.6 Parallel Interface 110
- Configurable Digital Inputs 111
- Configurable Digital Outputs 112
- Interface 115
- 4.7 Analog Interface 117
- Features 118
- Pertinent Parameters 119
- Functional Description 120
- Analog Command Value Input 121
- Emulation of Position Value 121
- Encoder Emulation 122
- Analog Inputs 122
- IndraDrive 125
- Motor Temperature Monitoring 126
- Notes on Commissioning 128
- Motor Holding Brake 129
- Hardware Requirements 130
- DK000007v01_en.fh7 131
- DK000008v01_en.fh7 133
- DK000016v01_en.fh7 134
- DK000009v01_en.fh7 135
- DK000010v01_en.fh7 135
- Situation 2 136
- Monitoring the Holding Brake 137
- Automatic Monitoring 137
- Reestablishing the Holding 137
- Brake Torque 137
- Activating the Holding Brake 139
- Function 139
- Automatic Brake Check 139
- Presetting the Brake Check 139
- 5.2 Rexroth Motors 141
- Adjusting Motor/Controller 142
- Thermal Motor Monitoring 142
- Measuring System 142
- Brief Description 143
- Dg5005f1.fh7 146
- Rexroth Kit Motors 147
- Pertinent Diagnostic Messages 148
- Checking Whether Third-Party 150
- Motors Can be Controlled 150
- How to do Project Planning? 150
- How to Commission? 150
- Motor Inductance 151
- Temperature Evaluation 152
- Hardware Data 154
- )40120(P)40040(P2 157
- 4043-0-P 157
- Internally Calculated Motor 159
- Parameter Values 159
- Initial State 160
- S-0-0141, Motor type 160
- )R2+(R40480P 163
- 01060S/105330P −−=−− 163
- 01070S305340P −−∗=−− 163
- I40040P =−− 164
- St)-H(Al 165
- NennLeer 166
- R(Al-St) 167
- H(Al-St) 167
- Name Date Signature 168
- Motor Encoder 170
- Forms for Parameter Values 171
- 5.4 Measuring Systems 174
- DC000015v01_en.FH7 178
- A,B_nom 182
- Resolver 182
- Diagnostic Messages 185
- Absolute Measuring Systems 186
- Relative Measuring Systems 190
- "longer distance" 192
- A" and 192
- Linear Encoders 193
- Scaling of Physical Data 201
- Settings and Tips for Modulo 211
- Temperature Scaling 211
- Example of Scaling Settings 212
- 6 Drive Control 213
- 6.2 Motor Control 214
- DF000090v01_en.fh7 215
- DF000115v01_en.fh7 218
- U/f characteristic 219
- IxR boost 220
- DF000120v01_en.fh7 221
- Torque/Force Control 224
- Field Weakening Operation 224
- Synchronous Machine 225
- DF000127v01_en.fh7 226
- Asynchronous Machine 227
- Flux Model 228
- Voltage Loop 228
- 5.1)( ∗∗+∗= 230
- Commutation Setting 231
- Application-Related Aspect 235
- Between Primary and Secondary 235
- DF0061v1.fh7 237
- Requirements 238
- How to Proceed 238
- Relevant Parameters 238
- Relevant Diagnostic Messages 238
- Recommissioning of 242
- Synchronous Motors with 242
- Incremental Measuring System 242
- command 244
- Overview 249
- Features of the Control Loops 250
- DF000043v02_en.fh7 252
- Order of Manual Control Loop 253
- S-0-0262, C07_x Load defaults 253
- Defining the Travel Range 256
- Entering a Travel Range 256
- Selection Parameter for 258
- SV5010D2.fh7 260
- SV5009D2.fh7 261
- DF000065v01_en.fh7 265
- DF000066v01_en.fh7 266
- Smoothing Filter 267
- Sv5053f1.fh7 268
- DK0019v1.fh7 273
- 6.5 Limitations 275
- Limitation Loop 276
- DF000067v01_en.fh7 277
- Torque/Force Limitation 278
- DF000068v01_en.fh7 279
- DF000070v01_en.fh7 280
- DK000061v01_en.fh7 281
- Velocity Limitation 283
- Travel Range Limit Switches 286
- 6.6 Power Supply 291
- Central Supply 293
- DF000124v01_en.fh7 294
- Inverters Ready for Operation 296
- Basics on Power Supply 297
- Minimum Voltage for Power 298
- Power Off 298
- Mains Failure Detection 299
- Immediate Measure at Mains 299
- Permanent Mains Failure 299
- Temporary Mains Failure 299
- Information on Inverters 300
- Information on Converters 300
- Module Bus 304
- Mains Voltage 304
- Braking Resistor 305
- Power Section Supply 305
- Drive System 305
- 7 Operating Modes 307
- Changing the Operating Mode 308
- Special Cases 309
- Drive-Controlled Change of 309
- Operating Mode 309
- Command Value Acceptance 309
- 7.2 Torque/Force Control 310
- DF0007v2.fh7 312
- Current Loop 313
- 7.3 Velocity Control 314
- Command Value Input 316
- Masking the Command Value 317
- Ramp Generator 318
- Jerk Limitation 318
- Command Value Limitation 318
- Fine Interpolation 318
- Velocity Control Loop 319
- P-0-1200 320
- Diagnostic Status Message 321
- Status of Ramp Generator 321
- Command Value Filtering (Jerk 324
- Limitation) 324
- Command Value 324
- Position Controller 325
- Diagnostic Status Messages 326
- Modulo Processing 331
- Status Messages 332
- DK000056v01_en.fh7 333
- Position Target Interpreter 337
- Acknowledgment with Error 338
- Positioning Generator 340
- Shortest Distance 343
- Different Velocities 343
- 7.7 Positioning Block Mode 346
- Fields of Application 347
- Single-Block Processing 349
- Property damage! 350
- Activating Positioning Blocks 352
- Absolute Positioning 353
- DK000026v01_en.fh7 354
- Parameter Setting 355
- Reference position 355
- Incremental Dimension 355
- Reference 355
- DK000027v01_en.fh7 356
- DK000028v01_en.fh7 357
- Residual Path 358
- Reference Position 359
- Activating Drive Enable 360
- 1 edge of bit 0 in P-0-4060 361
- Interrupting with Jog mode 362
- DK000031v01_en.fh7 363
- Sequential Block Processing 366
- DK000033v01_en.fh7 367
- Definition 368
- DK000034v01_en.fh7 370
- Failure of Switch Signal for 373
- Block Advance 373
- Limit Values of the Drive 377
- DK000038v01_en.fh7 378
- DK000039v01_en.fh7 380
- 7.8 Synchronization Modes 382
- DF000096v01_en.fh7 383
- DF000097v01_en.fh7 385
- Fine Interpolation and Master 386
- Axis Range 386
- Position Control Modes 387
- *07510Pdivisionsofnumber −−= 391
- DF000099v01_en.fh7 392
- Control Modes 393
- Relative Synchronization in 395
- Standstill 395
- Running Operation 396
- DK000043v01_en.fh7 397
- DK000044v01_en.fh7 398
- DK000045v01_en.fh7 399
- DK000046v01_en.fh7 400
- 02280S0753)-0-P(0048)0S(x 401
- −−<−−−+ 401
- 01830S0040)-0-S(0037)0S(dx 401
- Application "Velocity 403
- Synchronization" 403
- Command Value Adjustment 404
- DF000121v01_en.fh7 406
- Parameterizing the Operating 407
- Error Messages and Warnings 407
- x x 0434-0-P += 412
- General Parameterization 413
- Diagnostic Command Messages 417
- Position Status of Actual 417
- begin of profile does 425
- Dynamic Angle Offset 426
- Clocked Pull Roll 426
- Cross Cutter Function 426
- 8 Drive Functions 433
- DK000040v01_en.fh7 434
- DK000040v02_en.fh7 435
- (motor encoder) 438
- (external encoder) 438
- Before/After Establishing 438
- DF0074v1.fh7 443
- DF0072v1.fh7 446
- DF0076v1.fh7 447
- Distance Correction 448
- DF0078v1.fh7 449
- RefMarks 450
- Command Value Profile for 451
- Homing Procedure 451
- Acceleration Process 451
- Motion Range for Homing 451
- DK0023v1.fh7 452
- Marks not Distance-Coded) 454
- Identifying the 455
- Dedicated Point 455
- Settings for the 455
- Reference Point 455
- Settings for Homing Motion 455
- Starting the Command 459
- Reference of the Axis-Related 459
- Actual Position Value 459
- "Drive Halt (AH)" 461
- Been Established 461
- Measuring Systems 463
- 8.3 Error Reactions 467
- Best Possible Deceleration 468
- Possible Drive Reactions 469
- DK000015v01_en.fh7 470
- Switch to Torque-Free State 471
- Return Motion 472
- 00420P =−− 472
- Package Reaction on Error 474
- NC Reaction on Error 476
- 8.4 E-Stop Function 477
- Selecting the Drive Reaction 479
- Connecting the E-Stop Input 479
- Friction Torque Compensation 480
- 0155-0-S 482
- Axis Error Correction 485
- Measuring System to be 486
- Corrected 486
- Active Correction Value 486
- Sv5173f1.fh7 487
- XXclearancereversal ∆−∆= 488
- Correction Values 489
- Correction Range 489
- Correction Support Points 489
- Activating the Precision Axis 489
- Error Correction 489
- )()( displayxmeasxxk −= 491
- Temperature Correction 492
- Ap5046f2.fh7 493
- L * 0407-0-P α= 494
- ® not temperature-dependent 496
- Quadrant Error Correction 500
- DK000054v01_en.fh7 501
- Fs5007f1.fh7 505
- Position-Controlled Operating 508
- Non-Position-Controlled 508
- Monitoring the Slip 508
- 8.9 Spindle Positioning 512
- DK000047v01_en.fh7 514
- Functional Features 519
- Installation 520
- System Configuration 520
- Base_MPH02.lib 521
- DSP_MPH02.lib 522
- MXMotion.lib 522
- Integrated Safety Functions 524
- 9 Extended Drive Functions 529
- DK0001v1.fh7 531
- Measuring Signal Selection 532
- Storing Measured Values and 532
- Measured Value Differences 532
- Measured Value Status 533
- Precision 533
- Restart or Deactivation of 533
- Measured Value Detection 533
- 9.2 Measuring Encoder 536
- DC000015v02_en.fh7 539
- Position Data Reference 541
- Activating "Set Absolute 541
- Measuring" 541
- Measuring Encoder 545
- 9.3 Encoder Emulation 546
- Activating the Function 548
- Incremental Encoder Emulation 549
- Resolution 550
- Unit of the Emulated Position 550
- Controlled Homing) 551
- Absolute Encoder Emulation 552
- Measuring) 553
- Sv5089f1.fh7 555
- DF000091v01_en.fh7 556
- )**2/(1000 Tf 559
- DF0057v1.fh7 560
- Zero Point Shifting 561
- 9.5 Analog Outputs 564
- DK000052v01_en.FH7 566
- Other Settings 567
- 9.6 Digital Inputs/Outputs 570
- Source or Target Parameter 573
- Operating Principle 573
- P-0-0222 574
- Special Cases and Exceptions 575
- Master Communication 576
- DF000101v01_en.fh7 578
- Parameter and Bit 579
- Drive-Integrated PLC 580
- Technology 581
- 10.1 Parameters, Basics 583
- Loading Parameter Values 586
- Checksum of Parameter Values 586
- C0752 Locked with password 590
- Loop Parameter Values 591
- With Parameter Buffer Mode 591
- "Volatile Storage" 591
- Loading and Saving Parameter 592
- Values with MMC 592
- Values via Control Master or 592
- DriveTop 592
- IDN Lists of Parameters 593
- Using a Password 595
- "***" 597
- 10.2 Device Configuration 599
- Circuit Board Code 600
- Hours-Run Meter 601
- 10.3 Diagnostic System 603
- 1 E2025 604
- 1 C0901 604
- 1 C09 604
- 1 AF 604
- F2028 Excessive deviation 605
- Language Selection 606
- Status Classes 607
- Change Bits in Drive Status 608
- Masking the Change Bit 608
- = 1 609
- & 609
- Fixed Status Displays 610
- SERCOS interface) 611
- 1 C0101 614
- Command Inputs 617
- 10.5 MultiMediaCard (MMC) 619
- MMC Folder Structure 620
- Firmware Update with MMC 621
- MMC when Replacing Devices 622
- 10.6 Firmware Update 625
- Supply Units 626
- Drive Controllers 626
- How to Replace Controllers 627
- Save Parameter Values 629
- Replace Controller 629
- Operation Status Again 630
- Load Firmware 630
- Load Parameter Values 630
- Open-Loop Packages 634
- Closed-Loop Packages 634
- Scope of Supply 636
- Monitoring Function 637
- Logbook Function 638
- Patch Function 639
- -exponent 641
- =DoubleToFLOAT() 642
- 10.10 Oscilloscope Function 644
- DC000011v01_en.FH7 646
- DF000111v02_en.fh7 647
- Trigger Function 648
- Internal or External Trigger 649
- External trigger (with Offset 650
- Measurement) 650
- Selecting the Trigger Edges 651
- Setting the Trigger Delay 652
- Expanded Trigger Function 652
- (master drive) 653
- Recording Duration 654
- 10.11 Serial Communication 656
- Interface Mode 657
- Transmission Protocols 657
- Setting the Drive Address 658
- DF0020v1.fh7 659
- DF0021v1.fh7 660
- Connection System 661
- Write Access to a Parameter 664
- Read Access to a Parameter 665
- Activating a Command 669
- Completing a Command 672
- Signal Status Word) 672
- Ta0001f1.fh7 676
- Bl0001f1.fh7 677
- Addressing a Drive 679
- Command Telegram 682
- Reaction Telegram 682
- Starting a Command 683
- Ta0012f1.fh7 685
- Ta0007f1.fh7 686
- Last step: 687
- Ta0003f1.fh7 689
- 11 Commissioning 691
- the motor 692
- Enable and Move the Drive 699
- Basic Actions 702
- Rexroth Motor with Encoder 702
- Data Memory 702
- Overview and Practical Tips 704
- DC0006v1.fh7 705
- Relative Encoders 706
- Absolute Encoders 706
- Position Monitoring 706
- Configuring the Holding Brake 707
- Setting the Limitations 707
- 12 Index 711
- Index MPH-02, MPB-02, MPD-02 712
- 13 Service & Support 721
- Kompetenz-Zentrum Europa 722
- Europa (West) - Europe (West) 723
- Europa (Ost) - Europe (East) 724
- sanjay.nemade 725
- Nordamerika – North America 726
- Südamerika – South America 726
- Printed in Germany 728
- R911299225 728
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