Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

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Functions ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
Determining the Critical Position Loop Gain
•
Move axis slowly, i.e., using jog function on connected NC control
(rotary motors: 10...20 rpm, linear motors: 1...2 m/min).
•
Raise the K
v
-factor until instability appears.
•
Reduce the K
v
-factor until the sustained oscillation ends by itself.
The Kv factor determined through this process is the "Critical position
control loop gain".
Determining the Position Loop Setting
In most applications, an appropriate position loop setting will lie between
50% and 80% of the critical position loop gain.
This means:
CR07, Position loop Kv factor = 0.5 … 0.8 x K
vkrit
Position Control Loop Monitoring
The position control loop monitor helps to diagnose errors in the position
control loop.
Reasons for triggering the position control loop monitor can be:
•
Exceeding the torque or acceleration capability of the drive
•
Blocking of the axis mechanism
•
Disruptions in the position encoder
A parameter are used for setting the monitoring function:
•
A115, Monitoring position loop
If the drive detects an error in the position control loop, the error message
•
F228 Excessive deviation
is generated.
General Operating Characteristics of Position Control
Loop Monitoring
To monitor the position control loop, the drive calculates a model position
value within the closed position loop which is a function only of the
specified position command value profile and the set position loop
parameters. This model position value is compared continuously to the
actual position that is fed back to the control.
If the deviation exceeds A115, Monitoring position loop for more than
8 ms, error message F228 Excessive deviation will be generated.