Bosch Rexroth IndraMotion MTX micro - Optimizing the drive parameters

9.4 Optimizing the drive parameters
9.4.1 General information
After the basic drive parameters have been loaded, the controller parameters
should be adjusted to the mechanics of the machine. This optimizes the con‐
trol behavior of the drive. This step is only required for prototype machines.
Serial machines can be operated with the optimized parameters.
Execute the followings steps
1. Prepare the optimization
● Test power on/off
● Test E-Stop
● Jog axis
● Move the axis approximately to the center of the traversing range
2. Start the "Easy startup mode" of the drive
3. Optimize the velocity control loop
● Measure the possible bandwidth
● Set the Kp and Tn parameters
● Check the settings of the velocity control loop
4. Exit the "Easy startup mode" of the drive
5. Optimize the position control loop
● Set the Kv parameter
● Setting the acceleration feedforward
● Set the jerk limitation
After the drive has been optimized, switch the machine off and on
again.
Axes and spindles require optimization of the velocity and the po‐
sition control loops. Please note that the gear stages must each
be optimized separately for spindles with gear switching.
Bosch Rexroth AG DOK-MTXMIC-EASY*******-CO06-EN-P108/177
IndraMotion MTX micro Easy Setup for Standard Turning and Milling Machines
Commissioning the drives