Bosch PIN8 N1 Guía para resolver problemas descargar pdf (Pagina 250)

100

101

6-38 Drive Control MPH-02, MPB-02, MPD-02

DOK-INDRV*-MP*-02VRS**-FK01-EN-P

S-0-0051

S-0-0053

S-0-0037

S-0-0081

IPO

S-0-0124

S-0-0155

DF0001v2.fh7

S-0-0032, Primary mode of operation

S-0-0037, Additive velocity command value

S-0-0051, Position feedback 1 value

S-0-0053, Position feedback 2 value

S-0-0081, Additive Torque/Force command

S-0-0082, Torque/force limit value positive

S-0-0083, Torque/force limit value negative

S-0-0091, Bipolar velocity limit value

S-0-0092, Bipolar torque/force limit value

S-0-0100, Velocity loop proportional gain

S-0-0101, Velocity loop integral action time

S-0-0104, Position loop Kv-factor

S-0-0106, Current loop proportional gain 1

S-0-0107, Current loop integral action time 1

S-0-0109, Motor peak current

S-0-0110, Amplifier peak current

S-0-0111, Motor current at standstill

S-0-0124, Standstill window

S-0-0155, Friction compensation

S-0-0348, Acceleration feedforward gain

S-0-0380, Intermediate DC bus voltage

P-0-0001, Switching frequency of the power output stage

P-0-0004, Velocity loop smoothing time constant

P-0-0040, Velocity feedforward evaluation

P-0-0043, Torque-generating current, actual value

P-0-0051, Torque/force constant

P-0-0109, Torque/force peak limit

P-0-0180, Acceleration feedforward smoothing time constant

P-0-0640, Cooling type

P-0-1119, Velocity mix factor feedback 1 & 2

P-0-1120, Velocity control loop filter: filter type

P-0-1121, Velocity control loop filter: limit frequency low pass

P-0-1122, Velocity control loop filter: band-stop filter of band width

P-0-1123, Vel. cont. loop filter: band-stop filter of center frequen

P-0-1125, Velocity control loop: average value filter clock

P-0-1126, Velocity control loop: acceleration feedforward

S-0-0032,

bit 3

P-0-0004

S-0-0100

S-0-0101

P-0-1120

P-0-1121

P-0-1122

P-0-1123

filter cascade

(N = 8)

S-0-0082

S-0-0083

P-0-0040

S-0-0091S-0-0104

S-0-0348

S-0-0106

S-0-0107

P-0-0001 S-0-0380

PWM

velocity

controller

act. current

actual velocity

P-0-0043

act_motor

act_ext.

encoder

P-0-1119

velocity control loop

position control loop

current control loop

P-0-0109

S-0-0092

P-0-1126

P-0-0180

actual

position

F8079

P-0-1125

1/P-0-0051

P-0-0001

P-0-0640

S-0-0111

S-0-0109

S-0-0110

J,t

current

controller

posit.

controller

sampling times (TA) see Fig. 6-26

Fig. 6-25: Overall structure of control loop

Features of the Control Loops

For simplifying parameterization of the control loops and increasing the

capacity, some standardizations and structural modifications were made.

The internal controller cycle times (current, velocity and position) depend

on the contents of the following parameters:

• P-0-0001, Switching frequency of the power output stage

• P-0-0556, Control word of axis controller

Performance (Controller Cycle

Times)

1 2 ... 245 246 247 248 249 250 251 252 253 254 255 ... 727 728

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Bosch PIN8 N1 Guía para resolver problemas Pagina 250

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