Bosch Rexroth CKL Series - Axis Control Parameters; Load Basic CKL System Control Loop Parameters

Bosch Rexroth Corp., USL00010, 01.2015
15 Axis Control Parameters
15.1 Load basic CKL system control loop parameters
15.1.1 Steps for loading basic CKL system control loop parameters (choose either method):
1a. Open the Parameter editor box.
1b. In the Explorer tree select Axis Control Settings.
2a. Type parameter IDN (e.g. S100 for S-0-0100, input values and then press Enter after
each entry.
2b. Input values in the screen elds.
3b. Select “V-loop Filter” to input parameter P4.
See below table for parameter values.
Basic CKL System
Control Loop Parameter Values
S-0-0100 S-0-0101 P-0-0004
Velocity loop –
proportional gain
Velocity loop –
integral time
Velocity loop –
smoothing time
System Carriage length Primary part N/(mm/min) ms µs
CKL 110 180 mm MCP030B-V180 0.027 8.9 300
240 mm MCP030C-V180 0.033 8.9 300
300 mm MCP030D-V180 (tbd.) (tbd.) (tbd.)
CKL 145 244 mm MCP040C-V300 0.063 8.9 300
364 mm MCP040E-V300 0.073 8.9 300
484 mm MCP040G-V300 0.136 8.1 400
CKL 200 237 mm MCP070C-V300 0.057 20.7 300
297 mm MCP070D-V300 0.058 20.7 300
417 mm MCP070F-V300 0.059 28.5 600
28 Axis Control Parameters