8.4.5 Optimizing the Position Control Loop
The Kv (S-0-0104),
acceleration feedforward (S-0-0348) and the jerk limitation
(MaxAxJerk) parameters are the relevant parameters for optimizing the position
control loop. At first, the drive parameters are set, then the jerk limitation is
determined. The drive parameters can be found in the "Axis Control Settings"
dialog.
Fig.8-19: Setting the Kv and feedforward parameters
To optimize the position control loop, oscillate the axis cyclically between two
positions using an NC program. Change the Kv and feedforward parameters
during the traversing motion of the axis and observe its behavior with the os‐
cilloscope. Make sure that the jerk limitation is turned off with the JKC(0)
command
and the
feedforward
is
turned on
with
the
FFW(<axis name>1)
com‐
mand.
Example for the x-axis
Fig.8-20: NC program
DOK-MTXMIC-EASY*******-CO04-EN-P
Rexroth IndraMotion MTX micro Easy setup for Standard Turning and Milling Machines
Bosch Rexroth AG 103/141
Commissioning the Drives
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