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Bosch Rexroth AG
NYCe4000 Tools Manual
NYCeTuner
4.9
Current control parameters (not for NY4130 / NY4170)
Table 12 shows the current control parameters as displayed by the NYCeTuner
when selecting the parameters via the “View” menu. Fig. 73 shows the control
lay-out of the current controller. The parameters CC_KI and CC_KP are the PI
controller parameters. The maximum servo voltage to be used for current control
can be set with the parameter CC_SAT_LEVEL, and the maximum integrator level
can be set with the parameter CC_MAX_INTEGRATOR_LEVEL.
Table 12 Current control parameter list
Name
Description (displayed by NYCeTuner)
Unit
CC_KI
Integral gain of current loop
rad/s
CC_KP
Proportional gain of current loop
V/A
CC_MAX_INTEGRATOR_LEVEL
Maximum level of integrator in current loop
V
CC_SAMPLE_TIME
Sample time of current loop
s
CC_SAT_LEVEL
Saturation level of current controller output
V
Fig. 73
The current controller lay-out
IndraDrive
If the selected axis is on the IndraDrive, the parameter CC_SAMPLE_TIME is fixed
and must be set to 0.125 ms. The parameter CC_MAX_INTEGRATOR_LEVEL and
CC_SAT_LEVEL are not used in the IndraDrive and are set to zero for an axis on an
IndraDrive.