Operating instructions

Rexroth IndraDrive Commissioning and Parameterization 7-131
DOK-INDRV*-FU*********-IB01-EN-P
Diagnostic and Status Messages
If the command execution cannot be carried out successfully, diagnostic
messages will be signaling the respective errors. The description of the
respective command error contains information on the causes and
suggests measures for remedy. If necessary, the manufacturer-side
motor data have to be questioned and the motor and motor control
parameters determined again!
See descriptions of diagnostic messages in the separate
documentation "Troubleshooting Guide"
7.6 Closed-Loop Axis Control (Closed-Loop Operation)
Control Loop Structure
The drive controller has a cascade structure, i.e. the individual loops
(position, velocity and current) are connected into one another.
Depending on the operating mode there are different control loop
structures with different points of input and paths of the command values.
Depending on the active operating mode it is only possible to close the
torque control loop, the torque and velocity control loop or additionally the
position control loop in the drive. The overall structure of the control loops
is illustrated below.