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

Rexroth IndraDrive Commissioning and Parameterization 7-61
Function
Function
DOK-INDRV*-FU*********-IB01-EN-P
• double differentiated position command value (cyclic position control)
• differentiated velocity command value (velocity control)
with a 1 st order low pass in order to realize an acceleration feedforward
which avoids an unduly high excitation of the system even in the case of
poor position or velocity resolution. For the double differentiation can
cause a highly noisy feedforward value which in turn is added as an
additive torque command value.
x com
n com
P-0-0040
S-0-0348
Fig. 7-42: Parameterizable filter cascade
P-0-1126
P-0-0180
+ +
Mcom Fcom
DF0018v1.fh7
See also Functional Description "Drive Control - Axis Control (Closed-
Loop Operation)"
P-0-0190, Operating hours control section
Input min/max: Default value: Unit:
MPB: --- / --- --- s
This parameter displays the operating time of the drive's control section.
By means of this parameter it is possible to display the total duty cycle of
the control electronics since the delivery of the device. If a class 1
diagnostics error occurs, the content of this parameter at this point of time
is stored at the first place in the P-0-0193, Error memory operating
hours of control section parameter.
Note: The value is displayed in seconds and is stored on the control
section!
See also Functional Description "Operating Hours Counter"
P-0-0191, Operating hours power section
Input min/max: Default value: Unit:
MPB: --- / --- --- s
This parameter displays the operating hours of the power section since
the delivery of the device. These operating hours are the time during
which the drive has been operated with drive enable switched on.
Note: The value is displayed in seconds and is stored on the power
section!
See also Functional Description "Operating Hours Counter"