Bosch REXROTH IndraDrive Applications Manual page 83

DOK-INDRV*-MLD-APPLI**-AW02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis)
IndraLogic
Restrictions
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
Using the value "490 500" in the dialog window "Scaling per 10 V" you achieve
that the acceleration value is displayed in the desired unit "mm/s
At the beginning of
"DRIVE_LIB_01V02.lib" is included in the IndraLogic library manager by right-
clicking the library list.
Fig.8-5: Including the MLD-S Library in IndraLogic
This library contains the function block "MX_PID_Regler" on which process
control is based.
For vibration damping, the process control is superimposed to the drive control
loop structure which means that "Motion Control" still is in the external PLC.
When the actuating variable of the process control is an additive command
value for one of the inner control loops, it actually is an interference to the outer
loop. Due to the higher dynamic response of the inner control loops, it can be
of advantage, however, to preset an additional velocity command value, al‐
though the axis is in position control.
Process control is only as good as the feedback signal it is based on; i.e. pro‐
ceed with diligence and accuracy when installing the sensor and adjusting the
signal.
Bosch Rexroth AG
the project creation,
81/97
2 ".
the MLD-S library