Axis Control Parameters - Bosch Rexroth CKL Series Commissioning

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Axis Control Parameters

Bosch Rexroth Corp., USL00010, 01.2015
15 Axis Control Parameters
15.1 Load basic CKL system control loop parameters
15.1.1 Steps for loading basic CKL system control loop parameters (choose either method):
1a. Open the Parameter editor box.
1b. In the Explorer tree select Axis Control Settings.
2a. Type parameter IDN (e.g. S100 for S-0-0100, input values and then press Enter after
each entry.
2b. Input values in the screen fields.
3b. Select "V-loop Filter" to input parameter P4.
See below table for parameter values.
Basic CKL System
Control Loop Parameter Values
System Carriage length
CKL 110 180 mm
240 mm
300 mm
CKL 145 244 mm
364 mm
484 mm
CKL 200 237 mm
297 mm
417 mm
S-0-0100
Velocity loop –
proportional gain
Primary part N/(mm/min)
MCP030B-V180 0.027
MCP030C-V180 0.033
MCP030D-V180 (tbd.)
MCP040C-V300 0.063
MCP040E-V300 0.073
MCP040G-V300 0.136
MCP070C-V300 0.057
MCP070D-V300 0.058
MCP070F-V300 0.059
S-0-0101 P-0-0004
Velocity loop – Velocity loop –
integral time smoothing time
ms µs
8.9 300
8.9 300
(tbd.) (tbd.)
8.9 300
8.9 300
8.1 400
20.7 300
20.7 300
28.5 600