Bosch PIN8 N1 Guide de dépannage télécharger pdf (Page 263)

100

101

MPH-02, MPB-02, MPD-02 Drive Control 6-51

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

The velocity loop is a PI loop that can be parameterized via S-0-0100,

Velocity loop proportional gain and S-0-0101, Velocity loop integral

action time.

• The setting can be made by

• executing the "Load defaults procedure" function once or

• manual optimization (see description below).

• Depending on the control performance that was set, a cycle time of

125 µs (advanced) or 250 µs (basic) is used for the velocity loop (cf.

P-0-0556, bit 2).

• velocity mix of motor encoder velocity

• 4 freely configurable 2

order filters (e.g. band-stop filters) for filtering

resonance frequencies

• moving average filter of the control loop deviation for a maximum of 16

controller clocks (as a feedback filter, in the case of low-resolution

motor measuring systems)

• low-pass filter via P-0-0004 (VZ1)

• fine interpolation of the command values of the position controller (can

be switched off)

• velocity control loop monitor (can be switched off via P-0-0556, bit 1)

• optional acceleration feedforward from the speed command value

(with filter possibility)

• S-0-0037, Additive velocity command value

• S-0-0040, Velocity feedback value

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

• S-0-0091, Bipolar velocity limit value

• S-0-0100, Velocity loop proportional gain

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

• S-0-0149, C1300 Positive stop drive procedure command

• S-0-0155, Friction compensation

• S-0-0347, Velocity error

• P-0-0451, Actual acceleration torque/force value

• P-0-0452, Actual process torque/force value

• P-0-0004, Velocity loop smoothing time constant

• P-0-0048, Effective velocity command value

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

• P-0-0180, Acceleration feedforward smoothing time constant

• P-0-0555, Controller status word

• P-0-0556, Control word of axis controller

• P-0-1119, Velocity mix factor feedback 1 & 2

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

• P-0-1121, Velocity control loop filter: limit frequency of low pass

• P-0-1122, Velocity control loop filter: bandwidth of band-stop

filter

• P-0-1123, Vel. cont. loop filter: center frequency of band-stop

filter

• P-0-1125, Velocity control loop: average value filter clock

• P-0-1126, Velocity control loop: acceleration feed forward

Features

Pertinent Parameters

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Bosch PIN8 N1 Guide de dépannage Page 263

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