Bosch Rexroth IndraDrive MPH-02 Functional Description page 268

Firmware for drive controllers

Table of Contents

Drive Control

Preparing the Setting of the

Velocity Loop

Start Settings

When using the smoothing filters, take into account that each

filter causes phase displacement in the control loop and

therefore has a negative effect on the phase margin in the

control loop (→ control loop stability).

Therefore, the following applies:

"As little filtering as possible, but as much filtering as

Frequency response of a PT1- and PT2-filter

Notes on Commissioning

In order to be able to carry out the setting of the velocity loop it is

necessary to make some preparations:

• The mechanical system of the machine must have been set up in its

definite assembly in order to have original conditions for parameter

• The drive controller must have been correctly connected.

• The operatability of the safety limit switches (if available) must have

been checked.

• The "velocity control" mode must have been selected in the drive.

For parameterizing the controller make the start setting as follows:

• S-0-0100, Velocity loop proportional gain

= standard value of the connected motor

• S-0-0101, Velocity loop integral action time = 0 ms

→ no I-component

• P-0-0004, Velocity loop smoothing time constant = minimum value

→ filter is switched off

• P-0-0004 = 125 V DGYDQFHG 3 ELW 2 = 1)

• P-0-0004 = 250 V EDVLF 3 ELW 2 = 0)

• P-0-1120, Velocity control loop filter: filter type = [0 0 0 0]

→ deactivated

When determining the velocity loop parameters there mustn't

have been any friction torque compensation or reversal

clearance compensation activated, because it influences the

control behavior.

MPH-02, MPB-02, MPD-02

P-0-1121 limit frequency of low pass

DOK-INDRV*-MP*-02VRS**-FK01-EN-P

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