Bosch Rexroth IndraDrive MPH-02 - Velocity Control Loop

MPH-02, MPB-02, MPD-02 Operating Modes 7-13
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Velocity Control Loop
Velocity Loop
The velocity loop is a typical PI loop and can be set via the following
parameters:
• S-0-0100, Velocity loop proportional gain
• S-0-0101, Velocity loop integral action time
See also "Axis Control: Control Loop Structure" in chapter "Drive Control"
The minimum possible controller cycle time of the velocity loop depends
• on the available control section (CSH, CSB, CDB),
• on the respective firmware variant (MPH, MPB or MPD)
- and -
• in the case of variant MPH, on the parameterized performance (Basic
or Advanced; cf. P-0-0556, Control word of axis controller, bit 2).
The following list shows the maximum available performance:
• CSH (Advanced single-axis) → TA = 125 µs
• CSB (Basic single-axis) → TA = 250 µs
• CDB (Basic double-axis) → TA = 250 µs
Current Loop in Velocity Control Loop
In velocity control the outer current control loop (cascade structure), that
can be set via the following parameters, always takes effect, too:
• S-0-0106, Current loop proportional gain 1
• S-0-0107, Current loop integral action time 1
• P-0-0001, Switching frequency of the power output stage
See also "Current Loop" in section "Torque/Force Control"
Possibilities of Filtering
To filter noise components possibly present in the actual velocity value or
to attenuate resonance frequencies, the following filter settings can be
made:
• Via parameter P-0-0004, Velocity loop smoothing time constant the
low-pass filter that filters the control difference for the velocity loop can
be set.
• Parameter P-0-1125, Velocity control loop: average value filter
clock allows filtering the velocity control loop deviation with a moving
average filter.
• To filter the control deviation it is possible to configure four filters
connected in series as low-pass filters or band-stop filters with
parameter P-0-1120, Velocity control loop filter: filter type.
Note: The S-0-0081, Additive torque/force command value
parameter is added to the output signal of the velocity loop
and the resulting value is transmitted to the current and
torque/force limitation (see also "Limitations: Current and
Torque Limitation" in chapter "Drive Control").
Controller Performance and
Cycle Times
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