Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

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Functions ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
8.10 Control Loop Settings
The control loop settings in a digital drive controller are important in terms
of the characteristics of the servo axis.
"Optimizing" the controller
settings is generally not
necessary!
Determining the control loop settings requires expert knowledge. For this
reason, application-specific controller parameters are available for all
Rexroth digital drives. These parameters are either located in the motor
feedback data memory and can be activated through the Basic load
command (with MHD, MKD and MKE motors), or they must be entered
via the parameter input interface.
(See also chapter on: "Basic Load")
In isolated instances, it may nevertheless be necessary to adjust the
control loop settings for a specific application. The following section gives
a few simple but important basic rules for setting the control loop
parameters in such cases.
The methods indicated should always be viewed only as guidelines for
producing a stable control setting. Specific aspects of some applications
may require settings that deviate from these guidelines.
The control loop structure is made up of a cascaded (nested) position,
velocity and torque/force loop. Depending on the operating mode,
sometimes only the torque control loop or the torque and velocity control
loops become operative. The control is structured as depicted below: