● 2: Enter the resonance frequency determined in the measurement in the
"Center Frequency"
box (here: 900 Hz). The value entered in the "Band‐
width" box defines the width of the filtered frequency band. The value
selected in the example is 1000 Hz. The filter operates within a range from
400 Hz to 1400 Hz. The strongest filtering is achieved for interfering fre‐
quencies around 900 Hz.
● 3: Click on "Activate Filter Type" to activate the filter.
Repeat the measurement of the frequency response to check the
effectiveness of the
filter settings. Overshoots and phase shifts
should be reduced or should have disappeared completely.
8.4.3 Determining the Kp and Tn Parameters
The velocity loop
is a PI controller. This PI controller requires determination of
the gain (Kp) and the integral action time (Tn). Enter these parameters in the
"Axis Control Settings" dialog. The "Frequency Response Analysis" must be
started after each change as described above, until the optimal settings have
been found.
Fig.8-12: Setting Kp and Tn
Proceed as follows to set the parameters:
1. First set the integral action time Tn = 0. Then slowly increase the gain Kp.
Repeat the measurement of the frequency response of the controller after
each increase. The optimal Kp value has been found if the amplitude re‐
sponse does not show any overshoot of more than 3 dB and the phase
shift at the –3 dB point of the amplitude response is not less than –130
degrees at the same time.
Bosch Rexroth AG DOK-MTXMIC-EASY*******-CO04-EN-P
Rexroth IndraMotion MTX micro Easy setup for Standard Turning and Milling Machines
98/141
Commissioning the Drives
To Next Page
Loading...
