Bosch Rexroth IndraDrive MPH-02 Functional Description page 251

MPH-02, MPB-02, MPD-02
Position Loop
Velocity Loop
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
The following cycle times and PWM frequencies can be set:
P-0-0556 P-0-0001
(bit 2)
0 (Basic) 16 kHz
0 12 kHz
0 8 kHz
0 4 kHz
1 (Advanced) 16 kHz
1 8 kHz
1 4 kHz
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,
(0 % ... 100 %)
• input value for parameter S-0-0348, Acceleration feedforward gain
can directly be the respective inertia in kg*m
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
nd
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
TA_position TA_velocity loop
loop
500 µs
500 µs
500 µs
500 µs
250 µs
250 µs
250 µs
Velocity feedforward
2
(for rotary motor) or the
6-39
Drive Control
TA_current
loop
250 µs 62.5 µs
250 µs 83.3 µs
250 µs 125.0 µs
250 µs 125.0 µs
125 µs 62.5 µs
125 µs 62.5 µs
125 µs 125.0 µs
evaluation