Bosch PIN8 N1 Anleitung zur Fehlerbehebung PDF herunterladen (Seite 273)

100

101

MPH-02, MPB-02, MPD-02 Drive Control 6-61

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

For optimum parameterization of the acceleration feedforward the

following values have to be entered in parameter S-0-0348:

• linear motor → total mass (motor + load) in kg

• rotary motor → total mass inertia (motor + load) in kgm

Note: The input value of parameter S-0-0348 has to be adjusted on

site, depending on the respective mechanical system!

The illustration below exemplifies the operating principle of the respective

feedforward procedure.

DK0019v1.fh7

lag errror

(S-0-0189)

lag error

(S-0-0189)

0% velocity feedforward (P-0-0040)

20%

40%

60%

80%

100%

operating principle of velocity feedforward

without accel. feedforward

with accel. feedforward

operating principle of acceleration feedforward

(with P-0-0040 = 100 %)

acceleration phase

Fig. 6-41: Operating principle of the velocity and acceleration feedforward

Notes on Commissioning

The cascade structure of the loops requires the optimization of the

position loop to be only carried out after all outer control loops (velocity

and current) have been optimized, because in the case of a cascade loop

structure the dynamic response of the outer control loops limits the

dynamic response of the higher-level control loops.

To determine the critical position loop Kv-factor proceed as follows:

1. Let the drive move with low velocity in position control after switching

drive enable on:

• linear motor → 1000 … 2000 mm/min

• rotary motor → 10 … 20 rpm

Determining the Critical Position

Loop Kv-Factor

1 2 ... 268 269 270 271 272 273 274 275 276 277 278 ... 727 728

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