Command Value Processing In Torque/Force Control - Bosch Rexroth IndraDrive MPH-02 Functional Description

Firmware for drive controllers

Table of Contents

MPH-02, MPB-02, MPD-02

Command Value Processing in Torque/Force Control

Filtering the Command Value

Additive Current Command

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

• torque/force control with regard to the sum of the command values

preset in parameters S-0-0080, Torque/force command value and

S-0-0081, Additive torque/force command value

• The torque/force command value is generated internally by the velocity

loop. The value of parameter S-0-0081 can be added to this command

value as an additive component.

• limitation of the preset command value to limit value that can be

parameterized

• filtering the command value by means of parameter P-0-0176,

Torque/force command smoothing time constant

Pertinent Parameters

• S-0-0080, Torque/force command value

• S-0-0081, Additive torque/force command value

• S-0-0082, Torque/force limit value positive

• S-0-0083, Torque/force limit value negative

• S-0-0092, Bipolar torque/force limit value

• S-0-0109, Motor peak current

• S-0-0110, Amplifier peak current

• S-0-0111, Motor current at standstill

• P-0-0001, Switching frequency of the power output stage

• P-0-0038, Torque-generating current, command value

• P-0-0049, Effective torque/force command value

• P-0-0051, Torque/force constant

• P-0-0109, Torque/force peak limit

• P-0-0176, Torque/force command smoothing time constant

• P-0-4046, Effective peak current

Pertinent Diagnostic Messages

• A0100 Drive in TORQUE control

• F8079 Velocity limit S-0-0091 exceeded

See also below "Command Value Processing in Torque/Force Control"