MPH-02, MPB-02, MPD-02
Operating Modes
7-7
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Notes on Commissioning
On the user side the following limitations are available:
•
maximum allowed torque/force (S-0-0092, P-0-0109)
•
motive and generating load with stationary velocity (S-0-0082,
S-0-0083)
See also separate documentation "Parameter Description for
IndraDrive Drive Controllers"
Note:
It is also possible to directly view (in N or Nm) the value of
P-0-0049, Effective torque/force command value
as
intermediate value.
Note:
The content of
P-0-4046, Effective peak current
results from
the current and torque limits.
See also below "Current Loop"
Current Loop
The current loop is a typical PI loop and can be set via the following
parameters:
•
S-0-0106, Current loop proportional gain 1
•
S-0-0107, Current loop integral action time 1
See also figure "Overall structure of control loop" in chapter "Drive
Control"
Note:
In fact, the torque is not closed-loop controlled but open-loop
controlled. Given the linear relation between torque and
current (cf. P-0-0051) it is possible, however, to assume
closed-loop torque/force control. Just the absolute torque
precision is limited due to manufacturing tolerances of the
motor (max.
±
10%).
According to the available hardware (basic or advanced design), the
current control loop is closed every 62.5
µ
s (advanced) or 125
µ
s (basic).
(see also
P-0-0556, Control word of axis controller
, bit 2)
Notes on Commissioning
The parameter values for the current loop of Rexroth motors are defined
by the manufacturer. In the case of motors with encoder data memory,
they are automatically written with the correct values during
commissioning.
In the case of motors without encoder data memory, the correct values for
the current loop parameters and other motor parameters can be loaded
via the "DriveTop" commissioning tool.
Controller Performance and
Cycle Times
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
