Bosch PIN8 N1 Anleitung zur Fehlerbehebung PDF herunterladen (Seite 319)

100

101

MPH-02, MPB-02, MPD-02 Operating Modes 7-13

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

Velocity Control Loop

Velocity Loop

The velocity loop is a typical PI loop and can be set via the following

parameters:

• S-0-0100, Velocity loop proportional gain

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

See also "Axis Control: Control Loop Structure" in chapter "Drive Control"

The minimum possible controller cycle time of the velocity loop depends

• on the available control section (CSH, CSB, CDB),

• on the respective firmware variant (MPH, MPB or MPD)

- and -

• in the case of variant MPH, on the parameterized performance (Basic

or Advanced; cf. P-0-0556, Control word of axis controller, bit 2).

The following list shows the maximum available performance:

• CSH (Advanced single-axis) → TA = 125 µs

• CSB (Basic single-axis) → TA = 250 µs

• CDB (Basic double-axis) → TA = 250 µs

Current Loop in Velocity Control Loop

In velocity control the outer current control loop (cascade structure), that

can be set via the following parameters, always takes effect, too:

• S-0-0106, Current loop proportional gain 1

• S-0-0107, Current loop integral action time 1

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

See also "Current Loop" in section "Torque/Force Control"

Possibilities of Filtering

To filter noise components possibly present in the actual velocity value or

to attenuate resonance frequencies, the following filter settings can be

made:

• Via parameter P-0-0004, Velocity loop smoothing time constant the

low-pass filter that filters the control difference for the velocity loop can

be set.

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

clock allows filtering the velocity control loop deviation with a moving

average filter.

• To filter the control deviation it is possible to configure four filters

connected in series as low-pass filters or band-stop filters with

parameter P-0-1120, Velocity control loop filter: filter type.

Note: The S-0-0081, Additive torque/force command value

parameter is added to the output signal of the velocity loop

and the resulting value is transmitted to the current and

torque/force limitation (see also "Limitations: Current and

Torque Limitation" in chapter "Drive Control").

Controller Performance and

Cycle Times

1 2 ... 314 315 316 317 318 319 320 321 322 323 324 ... 727 728

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