6-52
Drive Control
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
•
P-0-2100, Velocity controller proportional gain, encoder memory
•
P-0-2101, Velocity controller integral-action time, encoder
memory
•
P-0-3004, Speed controller smoothing time constant, encoder
memory
•
E2059 Velocity command value limit active
•
F8078 Speed loop error
•
E8260 Torque/force command value limit active
Functional Description
The velocity command value can be smoothed by means of a fine
interpolator via 2 steps. This is useful, for example, for cyclic position
control with particularly great position command value jumps (long cycle
times, cf. S-0-0001 and S-0-0002).
S-0-0037
P-0-0048
P-0-0556
S-0-0091
DF000113v01_en.fh7
command value
fine interpolation
Bit 0
velocity command
value
+
S-0-0037:
additive velocity command value
S-0-0091:
bipolar velocity limit value
P-0-0048:
effective velocity command value
P-0-0556:
control word of axis controller
Fig. 6-35:
Fine interpolation of the velocity command value
Note:
The fine interpolator can be activated via bit 0 in parameter
P-0-0556, Control word of axis controller
.
The physical data in the velocity control loop have the following units:
•
velocity data:
rpm or mm/min
•
acceleration data:
(rpm)/controller clock or (mm/min)/controller
clock
•
torque data:
Nm or N
The velocity loop designed as a PI loop can be set via the following
parameters:
•
S-0-0100, Velocity loop proportional gain
•
S-0-0101, Velocity loop integral action time
The respective parameter settings depend on the mechanical properties
(mass inertia, stiffness, ...) of the motors and the connected mechanical
system.
•
In the case of Rexroth motors with motor data memory, a default
controller setting that is appropriate for most of the standard
applications is stored in this memory.
•
For Rexroth motors without motor data memory and third-party motors
the controller settings have to be determined during commissioning.
See also section "Notes on Commissioning" for velocity loop
Pertinent Diagnostic Messages
Fine Interpolator
Units of the Processed Data
Velocity Loop
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
