Bosch DOK-MOTOR-MCL Series, Project Planning Manual

Page: 181 / 196

14.7.2 Parameterization and optimization of Gantry axes
General Information
Prerequisites:
●
The parameter settings of the axes are identical
● Parallelism of the guides of the Gantry axes
● Parallelism of the linear scale
● In the controller, the axes are registered as individual axes
Drive-internal axis error compensation procedures can be used
for compensating the misalignments between two linear scales as
or the mechanical system. Please refer to the corresponding de‐
scription of functions of the drive controller for a description of the
operational principle and the parameter settings.
Fig. 14-9: Possible misalignment with the linear scale of a Gantry axes
Parameter settings
When using Gantry axes, your must ensure that the parameter settings of the
following parameters are identical:
●
Motor parameter
● Polarity parameters for force, velocity and position
● Control loop parameters
We have:
k
v
Position controller kv-factor S-0-0104
k
p
Velocity controller proportional gain S-0-0100
Fig. 14-10: Proportional gains in the position and velocity control loop of both ax‐
es.
DOK-MOTOR*-MCL********-PR05-EN-P Bosch Rexroth AG 179/193
Rexroth IndraDyn L Ironless Linear Motors MCL
Commissioning, operation and maintenance