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

Rexroth IndraDrive Commissioning and Parameterization 7-117
Motor Control
DOK-INDRV*-FU*********-IB01-EN-P
P-0-4080, Field bus: config. list of cyclic actual value data ch. are
transmitted between master and drive.
Data direction Word1 Format
master --> slave P-0-4077, Field bus: control word u16 (1 word)
optional command values :
slave --> master P-0-4078, Field bus: status word u16 (1 word)
optional actual values :
Note: The IDNs of the parameters of the cyclically configurable
command values or actual values are listed in S-0-0188, List
of configurable data in the MDT and S-0-0187, List of
configurable data in the AT.
Content and order of data in real-time channel:
Data direction Word1 Word2 ... Word n
master --> slave P-0-4077 cmd value 1 ...
slave --> master P-0-4078 actual value 1 ...
Open-Loop/Closed-Loop Operation
The IndraDrive firmware supports the following two basic principles of
motor control:
• motor control (U/f control) in open-loop operation
→ open-loop-controlled operation without encoder information
• motor control in closed-loop operation
• with encoder feedback
→ closed-loop-controlled operation (position, velocity and current)
• without encoder feedback
→ closed-loop-controlled operation with motor model (velocity and
current)
Via bit 14 and bit 15 of parameter P-0-0045, Control word of current
controller the method of motor control is selected.
Cycle Times and PWM Frequencies
Depending on the firmware variant (MPH, MPD or MPB) and the
respective control section (CSH01.1, CDB01.1, CSB01.1), there are the
following possible cycle times and PWM frequencies:
TA_current P-0-0001 FWA variant P-0-0556, bit 2 Performance
62,5 µs 16000 MPH 0 Basic
83,3 µs 12000 MPH 0 Basic
125 µs 8000 MPH
MPB
MPD
125 µs 4000 MPH
MPB
MPD
0 Basic
0 Basic