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

Rexroth IndraDrive Commissioning and Parameterization 7-133
Position Loop
Velocity Loop
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• 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