Bosch Rexroth CKL Series - Optimize Control Loops; Optimize Control Loops for Specific Application

Bosch Rexroth Corp., USL00010, 01.2015
26 Optimize Control Loops
26.1Optimizecontrolloopsforaspecicapplication
Basic motor and CKL system control loop parameters are described in this document for
initial startup.
When the application specications (load, motion prole, etc) are known, further control loop
tuning might be required. Two methods are possible with IndraWorks, manual and automatic
methods. A suggestion would be to perform automatic for initial tuning and manual for ne-
tuning. Be advised, due to the cascading structure of the control loops, for manual tuning
start with the inner most loop and work your way outward, i.e. current loop → velocity loop
→ position loop. The current loop is already optimized for the linear motor; therefore, current
loop tuning is typically not required. However, adjusting the PWM Switching Frequency
(parameter P-0-0001 in Motor Control → Current Control screen) may be desirable for some
applications, e.g. lower noise generation. If making this or any other motor current control
adjustments, please consult IndraDrive Firmware help.
24.1.1 Steps for optimizing CKL system velocity/position control loops
(repeat as necessary):
No. Function Purpose Automatic
Method
Manual
Method
1 Easy Startup Mode Enable power YES YES
2 Automatic Setting of Axis Control Automatic tuning YES N/A
3 Command Value Box Start velocity/position move YES YES
4 Axis Control functions Adjust control loop parameters N/A YES
5 IndraWorks Oscilloscope Analyze transient performance YES YES
6 Frequency Response Analysis Analyze control loop stability YES YES
7 Save Parameters Save optimized parameters YES YES
For detailed functional descriptions and instructions, please see IndraDrive Firmware help.
40 Optimize Control Loops