Bosch Rexroth IndraDrive MPH-02 Functional Description page 162

5-38
Motor, Mechanical Axis System, Measuring Systems
S-0-0106, Current loop
proportional gain 1
S-0-0107, Current loop integral
action time 1
For asynchronous motors there usually isn't any value indicated for the
maximum allowed peak current.
For thermal reasons we recommend limitation according to the following
relationships:
S
S-0-0109: rms value of maximum total motor current (in A)
I : nominal current, rms value (in A)
Nenn
Fig. 5-37: Recommendation for rotary motors
S-0-0109: rms value of maximum total motor current (in A)
I : continuous current at standstill, rms value (in A)
d
Fig. 5-38: Recommendation for linear motors
The value of the parameter S-0-0106, Current loop proportional gain 1
depends on the inductance of the motor (including possibly required
additional motor chokes) between the motor terminals.
−
S 0
S-0-0106: current loop proportional gain 1 (in V/A)
L : inductance of motor between terminals (minimum value in mH),
U-V
third terminal is not connected
L : phase inductance (in mH) of a possibly required choke (3x L
Dr
K: factor for current loop gain, see table
Fig. 5-39: Calculating the value for S-0-0106
The factor K depends on the switching frequency that was set (P-0-0001)
and the control performance
performance). The factor K can be taken from the following table:
Control performance
P-0-0556; bit 2
x
0 (basic)
1 (advanced)
x
x
P-0-0001: switching frequency of the power output stage
P-0-0556: control word of axis controller ("x" = 0 or 1)
Fig. 5-40: K-factor for determining the current loop gain
Attention: The measured value of the inductance between the motor
terminals can only be used for asynchronous motors, if the
rotor doesn't have closed slots (observe manufacturer's
specification!).
−
S
S-0-0107: current loop integral action time 1 (in ms)
L : inductance of motor between terminals (in mH), third terminal is
U-V
not connected
L : phase inductance (in mH) of a possibly required choke (3x L
Dr
R : resistance of the motor between the terminals (in m
U-V
Fig. 5-41: Calculating the value for S-0-0106
MPH-02, MPB-02, MPD-02
− − = ∗
0 0109 2,5 I
Nenn
− − = ∗
S 0 0109 2,5 I
d
− = ∗
0106 K (L 2 L
+ *
U - V Dr
(P-0-0556, bit 2;
Switching
frequency
(in Hz)
P-0-0001
4000
8000
8000
12000
16000
+
(L 2 L )
*
−
− = U V Dr
0 0107
R
−
U V
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
)
)
Dr
basic/advanced
Factor K
for determining
current loop gain
1,4
2,2
2,8
3,3
4,4
)
Dr
Ω)