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

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7-132 Commissioning and Parameterization Rexroth IndraDrive position control loop velocity control loop S-0-0348 S-0-0124 S-0-0155 P-0-1126 current control loop P-0-0040 P-0-0180 current loop J,t 1/P-0-0051 filter cascade (N = 8) velocity loop F8079 S-0-0032, bit 3 posit. loop PWM IPO Performance (Controller Cycle Times) - - - P-0-0001 S-0-0380 S-0-0106 S-0-0107 S-0-0109 S-0-0110 P-0-0001 P-0-0640 S-0-0111 P-0-0109 S-0-0092 S-0-0082 S-0-0083 P-0-1125 P-0-0004 P-0-1120 S-0-0100 P-0-1121 S-0-0101 P-0-1122 P-0-1123 S-0-0091 S-0-0104 S-0-0037 S-0-0081 P-0-0043 act. current vact_motor actual velocity vact_ext. encoder P-0-1119 actual position S-0-0051 S-0-0053 sampling times (TA) see section below Fig. 7-63: Overall structure of control loop Features of the Control Loops P-0-0001, Switching frequency of the power output stage P-0-0004, Velocity loop smoothing time constant P-0-0040, Velocity feedforward evaluation P-0-0043, Torque-generating current, actual value P-0-0051, Torque/force constant P-0-0109, Torque/force peak limit P-0-0180, Acceleration feedforward smoothing time constant P-0-0640, Cooling type P-0-1119, Velocity mix factor feedback 1 & 2 P-0-1120, Velocity control loop filter: filter type P-0-1121, Velocity control loop filter: limit frequency low pass P-0-1122, Velocity control loop filter: band-stop filter of band width P-0-1123, Vel. cont. loop filter: band-stop filter of center frequen P-0-1125, Velocity control loop: average value filter clock P-0-1126, Velocity control loop: acceleration feedforward S-0-0032, Primary mode of operation S-0-0037, Additive velocity command value S-0-0051, Position feedback 1 value S-0-0053, Position feedback 2 value S-0-0081, Additive Torque/Force command S-0-0082, Torque/force limit value positive S-0-0083, Torque/force limit value negative S-0-0091, Bipolar velocity limit value S-0-0092, Bipolar torque/force limit value S-0-0100, Velocity loop proportional gain S-0-0101, Velocity loop integral action time S-0-0104, Position loop Kv-factor S-0-0106, Current loop proportional gain 1 S-0-0107, Current loop integral action time 1 S-0-0109, Motor peak current S-0-0110, Amplifier peak current S-0-0111, Motor current at standstill S-0-0124, Standstill window S-0-0155, Friction compensation S-0-0348, Acceleration feedforward gain S-0-0380, Intermediate DC bus voltage For simplifying parameterization of the control loops and increasing the capacity, some standardizations and structural modifications were made. The internal controller cycle times (current, velocity and position) depend on the following requirements and parameters: • control section design (CSH, CSB or CDB) • activation of functional packages • P-0-0001, Switching frequency of the power output stage DF0001v2.fh7 DOK-INDRV*-FU*********-IB01-EN-P
Rexroth IndraDrive Commissioning and Parameterization 7-133 Position Loop Velocity Loop DOK-INDRV*-FU*********-IB01-EN-P • P-0-0556, Config word of axis controller (bits 2 and 5) With IndraDrive and ADVANCED control sections (and firmware) the following cycle and switching times can be obtained: • PWM switching frequency max. 16 kHz • current loop clock TA_current = 62.5 µs • velocity loop clock TA_velocity = 125 µs • position loop clock TA_position = 250 µs With IndraDrive and BASIC control sections (and firmware) the following cycle and switching times can be obtained: • PWM switching frequency max. 8 kHz • current loop clock TA_current = 125 µs • velocity loop clock TA_velocity = 250 µs • position loop clock TA_position = 500 µs Note: All data on performance are contained in section "Overview of Functions: Performance Data" in chapter "System Overview". • Jerk limitation in the "cyclic position control" mode by introducing the S-0-0349, Jerk limit bipolar parameter. The filter degree of the smoothing filter (moving average) can be set in parameter P-0-0042, Current position command average value filter order. • velocity feedforward to be set, i.e. the feedforward degree can be set via parameter P-0-0040, Velocity feedforward evaluation (0 % … 100 %) • input value for parameter S-0-0348, Acceleration feedforward gain can be the respective inertia in kg*m^2 (for rotary motor) or the mass in kg (for linear motor) • Standardization of the output value at the velocity loop to Newton (N) or Newton meter (Nm). According to the motor type, there are the following units for parameter S-0-0100 for IndraDrive: • rotary motor → Nm * s/rad • linear motor → N * min/mm • Extending the possibilities for filtering resonance frequencies. There are 4 filters of 2 nd degree available that can be set via the parameters P-0-1120, P-0-1121, P-0-1122 and P-0-1123. • limiting the acceleration in velocity control by setting in parameter S-0-0138, Bipolar acceleration limit value Possibilities of Accessing Outer Control Loops It is possible to access the outer control loops when operating in a higherlevel mode. Depending on the basic operating mode, the following parameters are available to do this. In position control: • P-0-0059, Additive position command value, controller • S-0-0037, Additive velocity command value • S-0-0081, Additive torque/force command value In velocity control: • S-0-0037, Additive velocity command value
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Electric Drives Linear Motion and a
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Rexroth IndraDrive Contents I Conte
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Rexroth IndraDrive Contents III Mul
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Rexroth IndraDrive Introducing the
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Rexroth IndraDrive Important Direct
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Rexroth IndraDrive Safety Instructi
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Rexroth IndraDrive Identification,
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Rexroth IndraDrive Electrical Data
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Rexroth IndraDrive Mounting and Ins
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Rexroth IndraDrive Index 10-1 10 In
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R911314905 Bosch Rexroth AG Electri
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Rexroth IndraDrive C Drive Controllers HCS02.1 ... - Bosch Rexroth

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