Operating instructions

1-10 Introducing the Products Rexroth IndraDrive
DOK-INDRV*-FU*********-IB01-EN-P
• monitoring functions
• limitations that can be parameterized
• output of control signals
• numerous diagnostic possibilities
• drive-internal generation of diagnostic messages
• analog output
• status displays, status classes
• oscilloscope function
• monitoring function
• patch function
• code of optional card
• parameter value check
• operating hours counter, logbook function, error memory
Performance Data
For the control performance of the IndraDrive range we basically
distinguish three levels with regard to the clock rates (cycle times):
• Basic performance
→ standard control performance by medium internal clock rates for the
control loops and the signal processing of inputs/outputs or drive-
integrated PLC (IndraMotion MLD-S)
In this documentation the clock rate data refer to the following
characteristic values:
• current loop clock T
A_current
• velocity loop clock T
A_velocity
• position loop clock T
A_position
• cycle time of PLC (IndraMotion MLD-S) T
MLD-S
• cycle time of master communication T
MastCom
The table below contains an overview of the clock rates depending on the
respective control performance. The detailed assignment of the clock rate
to control section design, performance level and parameter setting is
contained in the table in section "Control Section Design and
Performance" (see below).
Performance
T
A_Strom
T
A_Geschw
T
A_Lage
T
MLD-S
T
FKM
Basic
62,5/83,3/125 µs 250 µs 500 µs 2000 µs 500/1000 µs
Fig. 1-5: Clock rates (depending on the available performance)
Control
section type/
firmware
Functional
packages
Perform.
level
T
A_current
T
A_velocity
T
A_posit.
T
MLD-S
T
MastCom
Switching
frequency
1)
P-0-0556
bit 2 bit 5
CSB01.1/MPB
all, except for
"synchroniz-
ation" and
"IndraMotion"
Basic
125 µs 250 µs 500 µs
--
1000 µs
4000 Hz 0 0
Basic
125 µs 250 µs 500 µs
--
1000 µs
8000 Hz 0 0
1)
: can be set via P-0-0001
P-0-0556: config word of axis controller
Fig. 1-6: Performance depending on the control section design
Overview