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

7-136 Commissioning and Parameterization Rexroth IndraDrive
Automatic Setting of Axis Control
Features
During the load defaults procedure, the following control loop parameters
are set to their default values optimized for the respective motor:
• 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
• P-0-0004, Velocity loop smoothing time constant
Note: The default settings for the current loop (cf. S-0-0106 and
S-0-0107) are automatically adjusted to the currently
parameterized PWM frequency (cf. P-0-0001) and
performance setting (cf. P-0-0556)!
In addition, the following control loop parameters are set to their firmwareside
default values although there haven't been any default values stored
for them in the motor data memory:
• S-0-0348, Acceleration feedforward gain
• P-0-1125, Velocity control loop: average value filter clock
Note: In the majority of cases, the controller settings stored in the
motor encoder data memory provide a useful and reliable
control loop setting. In exceptional cases, however, it may be
necessary to make the settings with regard to the specific
application.
To facilitate drive parameterization, the IndraDrive firmware provides
automatic control loop setting in closed-loop operation. Parameters
P-0-0163, Damping factor for autom. controller adjust and P-0-0164,
Application for autom. controller adjust can be used to influence the
result of the control loop setting (obtained control loop dynamics).
Note: To carry out the automatic control loop setting it is necessary
to move the drive. The velocity and position control loops are
optimized.
• definition of a travel range for movement control for the automatic
control loop setting by
• absolute travel limits
- or -
• entering a travel distance based on the current actual position
• use of drive-internal interpolation and its parameters
• possible settings in P-0-0165, Selection for autom. controller adjust
for:
• velocity loop
• position loop
• acceleration feedforward
• determination of load inertia
• determination of maximum acceleration
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