Rexroth IndraDrive C Drive Controllers HCS02.1 ... - Bosch Rexroth

Rexroth IndraDrive Commissioning and Parameterization 7-55
Function
Function
DOK-INDRV*-FU*********-IB01-EN-P
See also the functional description: "Velocity Loop"
See also the functional description: "Synchronization Modes"
P-0-0051, Torque/force constant
Input min/max: Default value: Unit:
MPB: 0,01 / 21474836,47 1,00 P-0-4014
The torque/force constant indicates the relation of the motor torque/force
and the associated torque-generating current of the motor, if the motor is
not in the field weakening range.
If the motor is in the field weakening range, the actually effective
torque/force constant is reduced depending on the speed/velocity. The
value in this parameter, however, remains unchanged (relation to
operation without field weakening).
Note:
Writing the correct value to this parameter:
• In the case of MHD, MKD, MKE, automatically at initial
commissioning.
• In the case of 2AD, ADF, linear and rotary kit motors, by
loading the motor parameters with the IndraWorks D
commissioning tool.
• In the case of other motors, manual input according to
manufacturer's specification.
See also Functional Description "Torque/Force Control"
See also Functional Description "Motor, Mechanical Axis System,
Measuring Systems
P-0-0059, Additive position command value, controller
Input min/max: Default value: Unit:
MPB: 0 S-0-0076
By means of this parameter an additional position command value can be
added, directly at the input of the position loop, to the position command
value generated by command value adjustment. The value is neither
limited nor changed. This is why the user has to make sure that absolute
value, characteristic and the derived values are within their allowed
ranges of values!
Note: The actually effective position command value (addition of
position command value from command value adjustment of
current operating mode and "additive position command value,
controller") is displayed in parameter P-0-0434, Position
command value of controller.
This parameter is used, for example, by the drive firmware in order to set
command values from the firmware-internal command value generator
without limitation and deformation (noise generator for control loop
analysis). It can also be used by the control master for adding
feedforward values, for example!