Bosch Rexroth IndraDrive MPH-02 Functional Description page 252

6-40
Drive Control
multiple-axis
interpolation
position
cmd value
interface for master communication
interface for master communication
S-0-0047 S-0-0048
fine
+
interpolator
-
Position Control
Velocity Control
In velocity control:
• S-0-0037, Additive velocity command value
• S-0-0081, Additive torque/force command value
In current control:
• S-0-0081, Additive torque/force command value
master
compensation or
feedforward algorithm
additive additive additive
position current velocity
cmd val. cmd val. cmd val.
master
communication
S-0-0104 S-0-0037 S-0-0100
S-0-0101
position velocity
+
loop loop
-
dx/dt
S-0-0037:
S-0-0047:
S-0-0048:
S-0-0081:
S-0-0100:
S-0-0101:
S-0-0104:
Fig. 6-27: Structural overview (incl. possibilities of access)
Command Value Processing Depending on Operating
Mode
In the case of the following operating modes, the position control loop,
apart from the velocity and current control loop, is closed internally (in the
drive), too:
• position control with cyclic command value input
• drive-internal interpolation
• drive-controlled positioning
See also description of the respective operating mode in chapter
"Operating Modes"
In the "velocity control" mode the velocity control loop, apart form the
current control loop, is closed in the drive, too.
See also "Velocity Control" in chapter "Operating Modes"
controller
setting
drive
controller
S-0-0081
output stage
current
+
PWM
loop
-
additive velocity command value
position command value
position command value additional
additive torque/force command value
velocity loop proportional gain
velocity loop integral action time
position loop Kv-factor
MPH-02, MPB-02, MPD-02
encoder
motor
DF000043v02_en.fh7
DOK-INDRV*-MP*-02VRS**-FK01-EN-P