Bosch PIN8 N1 Guia de Resolução de Problemas descarregar pdf (Página 264)

100

101

6-52 Drive Control MPH-02, MPB-02, MPD-02

DOK-INDRV*-MP*-02VRS**-FK01-EN-P

• P-0-2100, Velocity controller proportional gain, encoder memory

• P-0-2101, Velocity controller integral-action time, encoder

memory

• P-0-3004, Speed controller smoothing time constant, encoder

memory

• E2059 Velocity command value limit active

• F8078 Speed loop error

• E8260 Torque/force command value limit active

Functional Description

The velocity command value can be smoothed by means of a fine

interpolator via 2 steps. This is useful, for example, for cyclic position

control with particularly great position command value jumps (long cycle

times, cf. S-0-0001 and S-0-0002).

S-0-0037

P-0-0048

P-0-0556

S-0-0091

DF000113v01_en.fh7

command value

fine interpolation

Bit 0

velocity command

value

S-0-0037: additive velocity command value

S-0-0091: bipolar velocity limit value

P-0-0048: effective velocity command value

P-0-0556: control word of axis controller

Fig. 6-35: Fine interpolation of the velocity command value

Note: The fine interpolator can be activated via bit 0 in parameter

P-0-0556, Control word of axis controller.

The physical data in the velocity control loop have the following units:

• velocity data: rpm or mm/min

• acceleration data: (rpm)/controller clock or (mm/min)/controller

clock

• torque data: Nm or N

The velocity loop designed as a PI loop can be set via the following

parameters:

• S-0-0100, Velocity loop proportional gain

• S-0-0101, Velocity loop integral action time

The respective parameter settings depend on the mechanical properties

(mass inertia, stiffness, ...) of the motors and the connected mechanical

system.

• In the case of Rexroth motors with motor data memory, a default

controller setting that is appropriate for most of the standard

applications is stored in this memory.

• For Rexroth motors without motor data memory and third-party motors

the controller settings have to be determined during commissioning.

See also section "Notes on Commissioning" for velocity loop

Pertinent Diagnostic Messages

Fine Interpolator

Units of the Processed Data

Velocity Loop

1 2 ... 259 260 261 262 263 264 265 266 267 268 269 ... 727 728

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