Bosch PIN8 N1 Anleitung zur Fehlerbehebung Seite 249
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MPH-02, MPB-02, MPD-02 Drive Control 6-37
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
6.4 Axis Control (Closed-Loop Operation)
Overview
Control Loop Structure
The drive controller has a cascade structure, i.e. the individual loops
(position, velocity and current) are connected into one another.
Depending on the operating mode there are different control loop
structures with different points of input and paths of the command values.
Depending on the active operating mode it is only possible to close the
torque control loop, the torque and velocity control loop or additionally the
position control loop in the drive. The overall structure of the control loops
is illustrated below.
- Rexroth IndraDrive 1
- MPH-02, MPB-02, MPD-02 1
- Contents 3
- 4 Master Communication 4-1 4
- 6 Drive Control 6-1 5
- 7 Operating Modes 7-1 6
- 8 Drive Functions 8-1 7
- 11 Commissioning 11-1 10
- 12 Index 12-1 10
- 13 Service & Support 13-1 10
- 1 System Overview 11
- Terms, Basic Principles 12
- Password 13
- Commands 14
- Operating Modes 15
- Warnings 15
- How to Use this Documentation 17
- Markers and Terms 18
- Cross References 19
- Further Documentations 19
- 1.2 Drive Controllers 20
- Power Sections 21
- Control Sections 21
- Control Section Configuration 22
- BASIC Single-Axis 23
- (CSB01.1) 23
- BASIC Double-Axis 24
- (CDB01.1) 24
- Supported Motors 25
- Supported Measuring Systems 25
- 1.4 Master Communication 26
- 1.5 Overview of Functions 27
- 1.6 Functional Packages 28
- Packages 29
- ADVANCED 30
- Additive Functional Packages 31
- Firmware Types That Can Be 33
- Base Packages 34
- Functions of the base 35
- Servo Function 37
- 2.1 Appropriate use 41
- 2.2 Inappropriate use 42
- 3.1 Introduction 43
- 3.2 Explanations 43
- 3.3 Hazards by Improper Use 44
- 3.4 General Information 45
- Voltage (PELV) 48
- During Operation and Mounting 51
- 3.11 Battery Safety 53
- 1 F4002 55
- 1.Er.Anz1 F2002 56
- 2.Comand 56
- Address Setting via Parameter 56
- Command Processing 57
- Command Change Bit 58
- (e.g. F8060) 60
- Master communication 62
- Device control 62
- IndraMotion 62
- DK000057v01_en.fh7 63
- DK000059v01_en.fh7 64
- Specification 65
- Transition Check Commands 67
- I/O Mode 75
- Profile Type) 79
- Rexroth profile type) 81
- Exemplary Configurations 82
- Drive-Internal Interpolation 83
- Drive-Controlled Positioning 84
- 4.4 SERCOS interface 86
- H20: distortion indicator LED 88
- Check the Fiber Optic Cable 90
- Checking the Transmission 90
- Cyclic Data Transfer 91
- Drive Enable 92
- Drive Halt 92
- Drive Status Word 92
- Acknowledging Drive Enable 92
- DK0006v1.fh7 93
- 4.5 PROFIBUS-DP 95
- Module 1: F-Module 98
- Module 2: Parameter Channel 98
- Module 3: Inputs 98
- Channel) 100
- FL - GL GL = 104
- MASTER SLAVE 105
- Processing the Cyclic Data 106
- Communication Cycle Time 106
- Monitoring Functions 107
- Diagnostic Possibilities 107
- 4.6 Parallel Interface 110
- Configurable Digital Inputs 111
- Configurable Digital Outputs 112
- Interface 115
- 4.7 Analog Interface 117
- Features 118
- Pertinent Parameters 119
- Functional Description 120
- Analog Command Value Input 121
- Emulation of Position Value 121
- Encoder Emulation 122
- Analog Inputs 122
- IndraDrive 125
- Motor Temperature Monitoring 126
- Notes on Commissioning 128
- Motor Holding Brake 129
- Hardware Requirements 130
- DK000007v01_en.fh7 131
- DK000008v01_en.fh7 133
- DK000016v01_en.fh7 134
- DK000009v01_en.fh7 135
- DK000010v01_en.fh7 135
- Situation 2 136
- Monitoring the Holding Brake 137
- Automatic Monitoring 137
- Reestablishing the Holding 137
- Brake Torque 137
- Activating the Holding Brake 139
- Function 139
- Automatic Brake Check 139
- Presetting the Brake Check 139
- 5.2 Rexroth Motors 141
- Adjusting Motor/Controller 142
- Thermal Motor Monitoring 142
- Measuring System 142
- Brief Description 143
- Dg5005f1.fh7 146
- Rexroth Kit Motors 147
- Pertinent Diagnostic Messages 148
- Checking Whether Third-Party 150
- Motors Can be Controlled 150
- How to do Project Planning? 150
- How to Commission? 150
- Motor Inductance 151
- Temperature Evaluation 152
- Hardware Data 154
- )40120(P)40040(P2 157
- 4043-0-P 157
- Internally Calculated Motor 159
- Parameter Values 159
- Initial State 160
- S-0-0141, Motor type 160
- )R2+(R40480P 163
- 01060S/105330P −−=−− 163
- 01070S305340P −−∗=−− 163
- I40040P =−− 164
- St)-H(Al 165
- NennLeer 166
- R(Al-St) 167
- H(Al-St) 167
- Name Date Signature 168
- Motor Encoder 170
- Forms for Parameter Values 171
- 5.4 Measuring Systems 174
- DC000015v01_en.FH7 178
- A,B_nom 182
- Resolver 182
- Diagnostic Messages 185
- Absolute Measuring Systems 186
- Relative Measuring Systems 190
- "longer distance" 192
- A" and 192
- Linear Encoders 193
- Scaling of Physical Data 201
- Settings and Tips for Modulo 211
- Temperature Scaling 211
- Example of Scaling Settings 212
- 6 Drive Control 213
- 6.2 Motor Control 214
- DF000090v01_en.fh7 215
- DF000115v01_en.fh7 218
- U/f characteristic 219
- IxR boost 220
- DF000120v01_en.fh7 221
- Torque/Force Control 224
- Field Weakening Operation 224
- Synchronous Machine 225
- DF000127v01_en.fh7 226
- Asynchronous Machine 227
- Flux Model 228
- Voltage Loop 228
- 5.1)( ∗∗+∗= 230
- Commutation Setting 231
- Application-Related Aspect 235
- Between Primary and Secondary 235
- DF0061v1.fh7 237
- Requirements 238
- How to Proceed 238
- Relevant Parameters 238
- Relevant Diagnostic Messages 238
- Recommissioning of 242
- Synchronous Motors with 242
- Incremental Measuring System 242
- command 244
- Overview 249
- Features of the Control Loops 250
- DF000043v02_en.fh7 252
- Order of Manual Control Loop 253
- S-0-0262, C07_x Load defaults 253
- Defining the Travel Range 256
- Entering a Travel Range 256
- Selection Parameter for 258
- SV5010D2.fh7 260
- SV5009D2.fh7 261
- DF000065v01_en.fh7 265
- DF000066v01_en.fh7 266
- Smoothing Filter 267
- Sv5053f1.fh7 268
- DK0019v1.fh7 273
- 6.5 Limitations 275
- Limitation Loop 276
- DF000067v01_en.fh7 277
- Torque/Force Limitation 278
- DF000068v01_en.fh7 279
- DF000070v01_en.fh7 280
- DK000061v01_en.fh7 281
- Velocity Limitation 283
- Travel Range Limit Switches 286
- 6.6 Power Supply 291
- Central Supply 293
- DF000124v01_en.fh7 294
- Inverters Ready for Operation 296
- Basics on Power Supply 297
- Minimum Voltage for Power 298
- Power Off 298
- Mains Failure Detection 299
- Immediate Measure at Mains 299
- Permanent Mains Failure 299
- Temporary Mains Failure 299
- Information on Inverters 300
- Information on Converters 300
- Module Bus 304
- Mains Voltage 304
- Braking Resistor 305
- Power Section Supply 305
- Drive System 305
- 7 Operating Modes 307
- Changing the Operating Mode 308
- Special Cases 309
- Drive-Controlled Change of 309
- Operating Mode 309
- Command Value Acceptance 309
- 7.2 Torque/Force Control 310
- DF0007v2.fh7 312
- Current Loop 313
- 7.3 Velocity Control 314
- Command Value Input 316
- Masking the Command Value 317
- Ramp Generator 318
- Jerk Limitation 318
- Command Value Limitation 318
- Fine Interpolation 318
- Velocity Control Loop 319
- P-0-1200 320
- Diagnostic Status Message 321
- Status of Ramp Generator 321
- Command Value Filtering (Jerk 324
- Limitation) 324
- Command Value 324
- Position Controller 325
- Diagnostic Status Messages 326
- Modulo Processing 331
- Status Messages 332
- DK000056v01_en.fh7 333
- Position Target Interpreter 337
- Acknowledgment with Error 338
- Positioning Generator 340
- Shortest Distance 343
- Different Velocities 343
- 7.7 Positioning Block Mode 346
- Fields of Application 347
- Single-Block Processing 349
- Property damage! 350
- Activating Positioning Blocks 352
- Absolute Positioning 353
- DK000026v01_en.fh7 354
- Parameter Setting 355
- Reference position 355
- Incremental Dimension 355
- Reference 355
- DK000027v01_en.fh7 356
- DK000028v01_en.fh7 357
- Residual Path 358
- Reference Position 359
- Activating Drive Enable 360
- 1 edge of bit 0 in P-0-4060 361
- Interrupting with Jog mode 362
- DK000031v01_en.fh7 363
- Sequential Block Processing 366
- DK000033v01_en.fh7 367
- Definition 368
- DK000034v01_en.fh7 370
- Failure of Switch Signal for 373
- Block Advance 373
- Limit Values of the Drive 377
- DK000038v01_en.fh7 378
- DK000039v01_en.fh7 380
- 7.8 Synchronization Modes 382
- DF000096v01_en.fh7 383
- DF000097v01_en.fh7 385
- Fine Interpolation and Master 386
- Axis Range 386
- Position Control Modes 387
- *07510Pdivisionsofnumber −−= 391
- DF000099v01_en.fh7 392
- Control Modes 393
- Relative Synchronization in 395
- Standstill 395
- Running Operation 396
- DK000043v01_en.fh7 397
- DK000044v01_en.fh7 398
- DK000045v01_en.fh7 399
- DK000046v01_en.fh7 400
- 02280S0753)-0-P(0048)0S(x 401
- −−<−−−+ 401
- 01830S0040)-0-S(0037)0S(dx 401
- Application "Velocity 403
- Synchronization" 403
- Command Value Adjustment 404
- DF000121v01_en.fh7 406
- Parameterizing the Operating 407
- Error Messages and Warnings 407
- x x 0434-0-P += 412
- General Parameterization 413
- Diagnostic Command Messages 417
- Position Status of Actual 417
- begin of profile does 425
- Dynamic Angle Offset 426
- Clocked Pull Roll 426
- Cross Cutter Function 426
- 8 Drive Functions 433
- DK000040v01_en.fh7 434
- DK000040v02_en.fh7 435
- (motor encoder) 438
- (external encoder) 438
- Before/After Establishing 438
- DF0074v1.fh7 443
- DF0072v1.fh7 446
- DF0076v1.fh7 447
- Distance Correction 448
- DF0078v1.fh7 449
- RefMarks 450
- Command Value Profile for 451
- Homing Procedure 451
- Acceleration Process 451
- Motion Range for Homing 451
- DK0023v1.fh7 452
- Marks not Distance-Coded) 454
- Identifying the 455
- Dedicated Point 455
- Settings for the 455
- Reference Point 455
- Settings for Homing Motion 455
- Starting the Command 459
- Reference of the Axis-Related 459
- Actual Position Value 459
- "Drive Halt (AH)" 461
- Been Established 461
- Measuring Systems 463
- 8.3 Error Reactions 467
- Best Possible Deceleration 468
- Possible Drive Reactions 469
- DK000015v01_en.fh7 470
- Switch to Torque-Free State 471
- Return Motion 472
- 00420P =−− 472
- Package Reaction on Error 474
- NC Reaction on Error 476
- 8.4 E-Stop Function 477
- Selecting the Drive Reaction 479
- Connecting the E-Stop Input 479
- Friction Torque Compensation 480
- 0155-0-S 482
- Axis Error Correction 485
- Measuring System to be 486
- Corrected 486
- Active Correction Value 486
- Sv5173f1.fh7 487
- XXclearancereversal ∆−∆= 488
- Correction Values 489
- Correction Range 489
- Correction Support Points 489
- Activating the Precision Axis 489
- Error Correction 489
- )()( displayxmeasxxk −= 491
- Temperature Correction 492
- Ap5046f2.fh7 493
- L * 0407-0-P α= 494
- ® not temperature-dependent 496
- Quadrant Error Correction 500
- DK000054v01_en.fh7 501
- Fs5007f1.fh7 505
- Position-Controlled Operating 508
- Non-Position-Controlled 508
- Monitoring the Slip 508
- 8.9 Spindle Positioning 512
- DK000047v01_en.fh7 514
- Functional Features 519
- Installation 520
- System Configuration 520
- Base_MPH02.lib 521
- DSP_MPH02.lib 522
- MXMotion.lib 522
- Integrated Safety Functions 524
- 9 Extended Drive Functions 529
- DK0001v1.fh7 531
- Measuring Signal Selection 532
- Storing Measured Values and 532
- Measured Value Differences 532
- Measured Value Status 533
- Precision 533
- Restart or Deactivation of 533
- Measured Value Detection 533
- 9.2 Measuring Encoder 536
- DC000015v02_en.fh7 539
- Position Data Reference 541
- Activating "Set Absolute 541
- Measuring" 541
- Measuring Encoder 545
- 9.3 Encoder Emulation 546
- Activating the Function 548
- Incremental Encoder Emulation 549
- Resolution 550
- Unit of the Emulated Position 550
- Controlled Homing) 551
- Absolute Encoder Emulation 552
- Measuring) 553
- Sv5089f1.fh7 555
- DF000091v01_en.fh7 556
- )**2/(1000 Tf 559
- DF0057v1.fh7 560
- Zero Point Shifting 561
- 9.5 Analog Outputs 564
- DK000052v01_en.FH7 566
- Other Settings 567
- 9.6 Digital Inputs/Outputs 570
- Source or Target Parameter 573
- Operating Principle 573
- P-0-0222 574
- Special Cases and Exceptions 575
- Master Communication 576
- DF000101v01_en.fh7 578
- Parameter and Bit 579
- Drive-Integrated PLC 580
- Technology 581
- 10.1 Parameters, Basics 583
- Loading Parameter Values 586
- Checksum of Parameter Values 586
- C0752 Locked with password 590
- Loop Parameter Values 591
- With Parameter Buffer Mode 591
- "Volatile Storage" 591
- Loading and Saving Parameter 592
- Values with MMC 592
- Values via Control Master or 592
- DriveTop 592
- IDN Lists of Parameters 593
- Using a Password 595
- "***" 597
- 10.2 Device Configuration 599
- Circuit Board Code 600
- Hours-Run Meter 601
- 10.3 Diagnostic System 603
- 1 E2025 604
- 1 C0901 604
- 1 C09 604
- 1 AF 604
- F2028 Excessive deviation 605
- Language Selection 606
- Status Classes 607
- Change Bits in Drive Status 608
- Masking the Change Bit 608
- = 1 609
- & 609
- Fixed Status Displays 610
- SERCOS interface) 611
- 1 C0101 614
- Command Inputs 617
- 10.5 MultiMediaCard (MMC) 619
- MMC Folder Structure 620
- Firmware Update with MMC 621
- MMC when Replacing Devices 622
- 10.6 Firmware Update 625
- Supply Units 626
- Drive Controllers 626
- How to Replace Controllers 627
- Save Parameter Values 629
- Replace Controller 629
- Operation Status Again 630
- Load Firmware 630
- Load Parameter Values 630
- Open-Loop Packages 634
- Closed-Loop Packages 634
- Scope of Supply 636
- Monitoring Function 637
- Logbook Function 638
- Patch Function 639
- -exponent 641
- =DoubleToFLOAT() 642
- 10.10 Oscilloscope Function 644
- DC000011v01_en.FH7 646
- DF000111v02_en.fh7 647
- Trigger Function 648
- Internal or External Trigger 649
- External trigger (with Offset 650
- Measurement) 650
- Selecting the Trigger Edges 651
- Setting the Trigger Delay 652
- Expanded Trigger Function 652
- (master drive) 653
- Recording Duration 654
- 10.11 Serial Communication 656
- Interface Mode 657
- Transmission Protocols 657
- Setting the Drive Address 658
- DF0020v1.fh7 659
- DF0021v1.fh7 660
- Connection System 661
- Write Access to a Parameter 664
- Read Access to a Parameter 665
- Activating a Command 669
- Completing a Command 672
- Signal Status Word) 672
- Ta0001f1.fh7 676
- Bl0001f1.fh7 677
- Addressing a Drive 679
- Command Telegram 682
- Reaction Telegram 682
- Starting a Command 683
- Ta0012f1.fh7 685
- Ta0007f1.fh7 686
- Last step: 687
- Ta0003f1.fh7 689
- 11 Commissioning 691
- the motor 692
- Enable and Move the Drive 699
- Basic Actions 702
- Rexroth Motor with Encoder 702
- Data Memory 702
- Overview and Practical Tips 704
- DC0006v1.fh7 705
- Relative Encoders 706
- Absolute Encoders 706
- Position Monitoring 706
- Configuring the Holding Brake 707
- Setting the Limitations 707
- 12 Index 711
- Index MPH-02, MPB-02, MPD-02 712
- 13 Service & Support 721
- Kompetenz-Zentrum Europa 722
- Europa (West) - Europe (West) 723
- Europa (Ost) - Europe (East) 724
- sanjay.nemade 725
- Nordamerika – North America 726
- Südamerika – South America 726
- Printed in Germany 728
- R911299225 728
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