Operating instructions

7-118 Commissioning and Parameterization Rexroth IndraDrive
DOK-INDRV*-FU*********-IB01-EN-P
250 µs
2000
1)
MPH
MPB
0Basic
62,5 µs
16000 MPH 1 Advanced
83,3 µs
12000 MPH 1 Advanced
62,5 µs
8000 MPH 1 Advanced
125 µs
4000 MPH 1 Advanced
T
A_current
: sampling time of current loop
P-0-0001: Switching frequency of power output stage (in Hz)
P-0-0556: Configuration of axis controller
1): only with power section HCS04.1… and MAD/MAF
Fig. 7-53: Cycle times and switching frequencies that can be set
Note: Via bit 2 and bit 5 of parameter P-0-0556, Configuration of
axis controller it is possible to select the performance options
depending on the control section design.
See "Overview of Functions: Performance Data" in chapter
"System Overview"
Scaling of Physical Data
The controller via data maps the drive to an internal mathematical model.
The status variables of the drive are determined on the basis of:
• position measurement,
• current measurement and
• temperature measurement.
The measured values collected in this way are converted into physical
data:
• position, velocity, acceleration and jerk data
• current data, torque and force data
• temperature data and load data
The master transmits command values to the drive that are used by the
controller for transforming them at the motor output shaft or mechanical
axis system. The drive in return registers and transmits actual values,
signals operating and command states and, if necessary, generates error
messages and warnings.
Communication between drive and master also takes place by
exchanging data.
An operating data (numeric value) can only be evaluated as a physical
value, when the numeric value is connected to a physical unit and the
position of the decimal point (decimal places). The data thereby is
"scaled" in a qualitative and quantitative way.
All data are stored in parameters and transmitted as parameter values
(for explanations on parameters see chapter "Parameters, Basics" in
chapter "Handling, Diagnostic and Service Functions"). The scaling of the
parameters containing data of the following physical values can be
defined by the customer:
• position
• velocity
• acceleration
• torque/force
Scaling
Parameters