Bosch rexroth MBT, Manual

Page: 405 / 422

A detailed description of the different methods is given in the firm‐
ware description for Rexroth IndraDrive controllers DOK-INDRV*-
MP*-02VRS**-FK□□-□□-P.
13.8 Setting and optimizing the control loop
13.8.1 General procedure
The control loop settings in a digital drive controller have an essential impor‐
tance for the properties of the servo axis. The control loop structure consists
of a cascaded position, velocity and current controller. Which controller is ac‐
tive is defined by the operation mode.
Defining the control loop settings requires the corresponding ex‐
pertise.
Refer to the functional description of the drive controller for more
detailed information.
Yes
No
Filtering of mechanical
resonance oscilations
Current loop setting
(Part of motor parameters)
Control loop setting and optimization
of synchronous torque motors
Optimization
Velocity loop
Setting of out of frequency
Repeating optimization
Velocity loop
Optimization
Position loop
Setting and o zation ptimi
Acceleration forward control
Fig. 13-4: Setting and optimizing the control loop of synchronous torque motors
MBT High Synchronous Torque Motors 393/409
Commissioning, operation and maintenance
R911298798_Edition 08 Bosch Rexroth AG