Bosch rexroth MCL, Project Planning Manual

Page: 190 / 206

14.7.2 Parameter value assignments and optimization of Gantry axes
General
Prerequisites:
●
Parametrization or axes is realized identically
● Parallelism of guides of Gantry axes
● Parallelism of length measuring systems
● The axes are registered as individual axes in the control unit
For compensation of alignment errors between two length meas‐
uring systems or the mechanical system, drive-internal axis error
correction procedures can be applied. Please refer to the corre‐
sponding description of functions of the drive controller for a de‐
scription of the operational principle and the parameter settings.
Fig. 14-9: Possible alignment errors at length measuring systems of Gantry ax‐
es
Parametrization
For operation of Gantry axes, identical parameterization of the following pa‐
rameters must be ensured:
●
Motor parameter
● Polarity parameter for force, velocity and position
● Control loop parameter
We have:
k
v
Position controller kv factor S-0-0104
k
p
Velocity loop proportional gain S-0-0100
Fig. 14-10: Proportional gain in position and velocity control loop of both axes
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Commissioning, operation and maintenance
MCL Ironless Linear Motors
Bosch Rexroth AG R911330592_Edition 06