Bosch PIN8 N1 Anleitung zur Fehlerbehebung PDF herunterladen (Seite 251)

100

101

MPH-02, MPB-02, MPD-02 Drive Control 6-39

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

The following cycle times and PWM frequencies can be set:

P-0-0556

(bit 2)

P-0-0001 TA_position

loop

TA_velocity loop TA_current

loop

0 (Basic) 16 kHz

500 µs 250 µs 62.5 µs

0 12 kHz

500 µs 250 µs 83.3 µs

08 kHz

500 µs 250 µs 125.0 µs

04 kHz

500 µs 250 µs 125.0 µs

1 (Advanced) 16 kHz

250 µs 125 µs 62.5 µs

18 kHz

250 µs 125 µs 62.5 µs

14 kHz

250 µs 125 µs 125.0 µs

TA: sampling time

Fig. 6-26: Possible control cycle times in accordance with controller

performance and switching frequency that have been set

Note: We distinguish between basic and advanced control.

Advanced control could take place, for example, with

8 kHz/16 kHz switching frequency, 62.5 µs current loop clock,

125 µs velocity loop clock and 250 µs position loop clock.

• Jerk limitation in the "cyclic position control" mode by introducing the

S-0-0349, Jerk limit bipolar parameter. The filter degree of the

smoothing filter (moving average) can be set in parameter P-0-0042,

Current position command average value filter order.

• velocity feedforward to be set, i.e. the feedforward degree can be set

via parameter P-0-0040, Velocity feedforward evaluation

(0 % … 100 %)

• input value for parameter S-0-0348, Acceleration feedforward gain

can directly be the respective inertia in kg*m

(for rotary motor) or the

mass in kg (for linear motor)

• Standardization of the output value at the velocity loop to Newton (N)

or Newton meter (Nm). According to the motor type, there are the

following units for parameter S-0-0100 for IndraDrive:

• rotary motor → Nm * s / rad

• linear motor → N * min / mm

• Extending the possibilities for filtering resonance frequencies. There

are 4 filters of 2

degree available that can be set via the parameters

P-0-1120, P-0-1121, P-0-1122 and P-0-1123.

• limiting the acceleration in velocity control by setting in parameter

S-0-0138, Bipolar acceleration limit value

Possibilities of Accessing Outer Control Loops

It is possible to access the outer control loops when operating in a higher-

level mode. Depending on the basic operating mode, the following

parameters are available to do this.

In position control:

• S-0-0037, Additive velocity command value

• S-0-0048, Additive position command value

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

Position Loop

Velocity Loop

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