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

7-134 Commissioning and Parameterization Rexroth IndraDrive
fine
interpolator
multiple-axis
interpolation
position
cmd value
additive
position
cmd val.
• S-0-0081, Additive torque/force command value
In current control:
• S-0-0081, Additive torque/force command value
master
+
-
dx/dt
additive
current
cmd val.
velocity
loop
additive
velocity
cmd val.
interface for master communication
interface for master communication
S-0-0047 P-0-0059 S-0-0104 S-0-0037 S-0-0100 S-0-0081
S-0-0101
+
-
position
loop
Position Control
Velocity Control
Torque/Force Control
compensation or
feedforward algorithm
master
communication
+
-
controller
setting
current
loop
drive
controller
PWM
output stage
S-0-0037: additive velocity command value
S-0-0047: position command value
S-0-0081: additive torque/force command value
S-0-0100: velocity loop proportional gain
S-0-0101: velocity loop integral action time
S-0-0104: position loop Kv-factor
P-0-0059: additive position command value, controller
Fig. 7-64: Structural overview (incl. possibilities of access)
motor
encoder
DF000043v03_en.fh7
Command Value Processing Depending on Operating
Mode
In the case of the following operating modes, the position control loop,
apart from the velocity and current control loop, is closed internally (in the
drive), too:
• position control with cyclic command value input
• drive-internal interpolation
• drive-controlled positioning
See also description of the respective operating mode in chapter
"Operating Modes"
In the "velocity control" mode the velocity control loop, apart form the
current control loop, is closed in the drive, too.
See also "Velocity Control" in chapter "Operating Modes"
The "torque/force control" mode actually isn't torque or force control but
current control. Therefore, only the current control loop is closed in the
drive.
See also "Torque/Force Control" in chapter "Operating Modes"
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