Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS - Page 191

ECODRIVE03-FL*-04VRS Functions 8-45
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
Sv5052f1_AE.WMF
Fig. 8-24: Amplitude Response of the Rejection Filter as a Function of
Bandwidth (Qualitative)
To set the bandpass filter, we recommend proceeding as follows:
First set rejection filter to inactive
⇒ Set parameter CR06, Rejection bandwidth Velocity loop to 0.
⇒ Connect oscilloscope to analog output channels. Assign velocity
feedback value to analog output 1 (in B003, Analog output 1, signal
selection "B004" and in B004, Analog output 1 scaling enter the
scaling, e.g., 100 rpm / 10 volts)
- or -
⇒ Induce oscillation in the drive mechanics, e.g., tap lightly with a rubber
mallet.
⇒ Record the time history of the velocity oscillation with the oscilloscope
and analyze this record for salient frequencies.
⇒ Set the drive enable signal and optimize the velocity loop with the
rejection filter deactivated (see Chapter entitled “Setting the Velocity
Loop).”
⇒ Record the step response (high acceleration) of the velocity feedback
value and the torque/force generating command current for a small
velocity command step (the torque-generating command current must
not reach the limits during this process.)
⇒ Enter the most salient frequency in Hz in parameter CR05, Rejection
frequency velocity loop.
⇒ Enter a minimum bandwidth in parameter CR06, Rejection
bandwidth velocity loop, e.g., 25Hz).
⇒ Record the previous step response again.
If the step response shows less overshoot and shorter oscillation
periods, then:
⇒ Check whether increasing the value of CR06, Rejection bandwidth
velocity loop produces additional improvement.
- or -
⇒ Check whether a change in the value of CR05, Rejection frequency
velocity loop produces additional improvement.
Presets
Determining the Resonance
Frequency
Determining the Initial State of
the Control Loop
Turn Rejection Filter On and
Check the Effect