Table of Contents
Advertisement
7-6
Operating Modes
Command Value Limitation
Output Variable
Operating mode: torque/force control
P-0-0109
S-0-0082
S-0-0081
S-0-0083
S-0-0092
P-0-0176
+
S-0-0080
Velocity Monitor
The following command value limitations are distinguished:
• torque/force limit
• current limit
On the user side it is only possible to directly set the torque/force limits.
By setting the switching frequency (P-0-0001) the value of the current limit
is indirectly influenced.
The output variable of the command value processing for torque/force
control is the torque-generating component of the current command value
Iqcmd (P-0-0038).
P-0-0001
S-0-0109
S-0-0111
S-0-0110
P-0-0051
v,t
1/KM
P-0-0049
Fig. 7-2:
Command value processing in torque/force control
The currently effective actual limit values are displayed (P-0-0442,
P-0-0443, P-0-0444; P-0-4045, P-0-4046); so is the output variable of the
command value processing in torque/force control, the torque-generating
component of the current command value (P-0-0038).
P-0-0442,
Actual value
torque limit
positive
(stationary)
P-0-0444,
P-0-0443,
Actual value
Actual value
peak torque
torque limit
negative
(stationary)
Fig. 7-3:
Display of the active limit values and the current torque/force and
current command value
In torque/force control the velocity of the drive is reached depending on
the component of the drive torque or the drive force acting on the
acceleration. As the velocity of a motor or an axis has to stay within the
allowed range in order to avoid damage, the actual velocity value is
monitored.
If the value of S-0-0040, Velocity feedback value exceeds the 1.125-fold
value of S-0-0091, Bipolar velocity limit value, the drive generates the
F8079 Velocity limit S-0-0091 exceeded error message and switches off
with the error reaction that was set.
MPH-02, MPB-02, MPD-02
current controller
I
q cmd
P-0-0038
P-0-0049,
Effective
torque/force
command value
1/KM
P-0-0051
P-0-4045,
Max. possible
continuous
current
limit
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
DF0010v1.fh7
P-0-0038,
Torque-generating
current,
command value
P-0-4046,
Effective
peak
current
DF0007v2.fh7
Advertisement
Table of Contents
Related Manuals for Bosch Rexroth IndraDrive MPH-02
Related Products for Bosch Rexroth IndraDrive MPH-02
- Bosch Rexroth IndraDrive C HCS03.1
- Bosch Rexroth IndraDrive HMS02
- Bosch Rexroth IndraDrive HMD01
- Bosch Rexroth IndraDrive HMD01.1N-W0012
- Bosch Rexroth IndraDrive HMD01.1N-W0020
- Bosch Rexroth IndraDrive HMD01.1N-W0036
- Bosch Rexroth IndraDrive HCS01.1E-W0003-02 Series
- Bosch Rexroth IndraDrive HCS01.1E-W0006-02 Series