Download Bosch PIN8 N1 Troubleshooting guide

8-74 Drive Functions
MPH-02, MPB-02, MPD-02
Pertinent Parameters
The following parameters are used to parameterize this feature:
• P-0-0240, C1700 Command measuring wheel mode
• P-0-0241, Actual pos. smoothing time constant for hybrid pos.
control
• P-0-0242, Current actual slip value in %
• P-0-0243, Maximum occurred actual slip value in %
• P-0-0244, Monitoring window of slip in %
The following parameters are used to parameterize the measuring wheel
encoder:
• S-0-0115, Position feedback 2 type
• S-0-0117, Feedback 2 resolution
• P-0-0123, Feed constant 2 (optional encoder)
• P-0-0124, Gear 2 load-side (optional encoder)
• P-0-0125, Gear 2 encoder-side (optional encoder)
• P-0-0185, Control word of encoder 2 (optional encoder)
Pertinent Diagnostic Messages
• C1700 Command measuring wheel mode
• C1701 Measuring wheel operation not possible
• F2036 Excessive position feedback difference
Functional Description
In the measuring wheel mode, the position control loop is closed via
motor encoder and measuring wheel encoder. The measuring wheel
mode is activated via P-0-0240, C1700 Command measuring wheel
mode and completed when the command is cleared.
For compensating possible slip between drive motor and material the
position difference of motor encoder and measuring wheel encoder is
included in the actual position value (hybrid position control).
To reduce jerky slip phenomena the added position difference can be
attenuated with a filter. The time constant can be set in parameter
P-0-0241, Actual pos. smoothing time constant for hybrid pos.
control.
position cmd
value
Kv
+
-
velocity command value
S-0-0051
motor
encoder
+
+
- S-0-0053
+
P-0-0241
optional
encoder
Fp5067f2.fh7
S-0-0051:
position feedback 1 value
S-0-0053:
position feedback 2 value
P-0-0241:
actual pos. smoothing time constant for hybrid pos. control
Fig. 8-67: Generating the actual position value with measuring wheel mode
DOK-INDRV*-MP*-02VRS**-FK01-EN-P