Programming; System Structure - Bosch REXROTH IndraDrive Applications Manual

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Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis)
8.3

Programming

8.3.1

System Structure

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Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
Fig.8-6: System Structure
In our example, we use an axis which is operated in position control. The ac‐
tuating variable of the process loop, which is to suppress/compensate unwan‐
ted vibration, is an additive command value to the outermost control loop. In
this case, the parameter "P‑0‑0059, Additive position command value, control‐
ler" consequentially is the target parameter of the actuating variable. In this
case, the command value for process control would be the twofold derived po‐
sition profile which is preset by the external PLC. With infinite stiffness, this
would simultaneously be the ideal acceleration profile at the sensor's point of
installation.
DOK-INDRV*-MLD-APPLI**-AW02-EN-P