Table of Contents
Initial commissioning
4–14
4.3
Optimizing the drive controller
P-component of speed controller
Integral-action component of speed controller
Speed limit value
Acceleration limit value
Actual speed
Loop gain factor
Position setpoint
Position actual value S-0-0051
Following distance
Position setpoint
change P-0-2552
rho:
linear
–
interpolation
Cyclic instructions to the
drive, such as
– setpoint condition of
OUT1
– type of interface
– power ON/OFF
– brake ON/OFF
are contained in P-0-2550
in bit code (bits 0, 5, 6 and
7). The drive is enabled
through the CAN bus.
In P-0-2551, the drive re-
turns its status to the rho.
As a rule, the drive performance is satisfactory when the parameter settings
described above have been made, i.e. it is not necessary to make more ad-
justments at the control unit.
If necessary, however, the position controller, the speed controller and the
filter can be modified within the servo system.
In order to visualize the effects of optimization on the control loop, a storage
oscilloscope and the OM4 option module with suitably parameterized mea-
suring outputs (cf. section 4.2.12, page 4–13) are absolutely necessary.
CAUTION
Any interventions in the parameters of the control units are reserved
to persons with profound knowledge of the individual control unit
parameters and experience in the optimization of servo loops!
The following block diagram is designed to give you an overview of the pa-
rameters of the servo loop:
S-0-0100
S-0-0101
S-0-0091
S-0-0138
S-0-0040
S-0-0104
S-0-0047
S-0-0189
Feed-for-
ward con-
trol (S32,
P500)
Position
–
controller
controller
Speed setpoint
S-0-0036
Actual value smoothing interval P-0-0013
Actual
speed
Position
.
The parameters of the current controller are critical for the drive behav-
ior. They must not be changed without having consulted Bosch.
Selection of filter type
Limit frequency of low pass filter
Quality of band rejection filter
Center frequency of band rejection filter P-0-0123
P-component
Integral-action component
Torque limit value
Rejection
Speed
filter/low-
pass filter
Torque setpoint
S-0-0080
value
actual
value
P-0-0120
P-0-0121
P-0-0122
S-0-0106, S-0-0119
S-0-0107, S-0-0120
S-0-0092
Current
PWM
–
controller
output
Actual
current
value
from encoder evaluation
1070 066 037-101 (00.02) GB
Table of Contents
