Siemens SINAMICS S120 System Manual page 118

Commissioning
4.18 Fine calibration and tuning
Controller optimization, P component
Relevant parameters:
● p1460: HLA velocity controller P gain A (P gain velocity controller A)
● p1461: HLA velocity controller P gain (P gain velocity controller)
● p1462: HLA velocity controller P gain B (P gain velocity controller B)
The theoretical characteristic data of the valve and cylinder are used to calculate a
recommended P gain value. The positive feedback area (p1460 ... p1462 <0) is also used to
dampen the drive system.
The adjustment to real conditions on the machine (special damping requirements) should be
made according to the following criteria:
1. P component: positive and as large as possible.
2. The acceptable overshoot response represents the upper limit for the setting.
Note
P < 0 (positive feedback) may be necessary to achieve the required damping behavior.
However, this setting will degrade the control quality. Friction in particular causes longer
settling times.
Values used (typical):
● f
● f
● f
Note
The P gain is indicated as a % of p1475. P = -100 % compensates the precontrol.
Controller optimization I component
Integrator/integral time (TN)
1. Objective: Compensate errors in the precontrol channel.
2. Implementation: TN > 5 ms, taking into account the overshoot behavior of the valve
frequency response
118
P > 0
①
P < 0, or around zero
②
P > 0
③
System Manual, 04/2015, 6SL3097-4BA00-0BP1
Hydraulic Drive