Siemens SINAMICS S120 Function Manual page 122

Servo control
4.8 Autotuning
Note
Resetting the inertia estimator
Through deactivation and renewed activation of the online tuning, the estimated load
moment of inertia and the load torques are reset.
Setting the sequence control:
The following sequence control settings can be made via p5302:
Bit
00
01
02
03
06
07
Parameterizing the controller
You can parameterize the controller as follows via parameter p5271:
● Evaluate the estimated load for the speed controller gain with p5273.
● Activate the speed precontrol for the basic positioner (EPOS).
● Activate torque precontrol.
● Only with activated speed precontrol (bit 3) or torque precontrol (bit 4): Use the controller
as PD controller in the position control loop to increase the dynamic response of the
position controller.
● Determine the maximum acceleration limits for the basic positioner (EPOS).
● Do not change the Kp (speed controller gain).
● Activate the torque precontrol.
122
Effect
The speed controller gain is determined and set with the aid of a noise signal.
"Function is being prepared"
Any required current setpoint filters are determined and set with the aid of a noise signal. In
this way, a higher dynamic response can be achieved in the speed control loop.
"Function is being prepared"
With this bit, the moment of inertia is determined with the aid of the inertia estimator. If this
bit is not set, the load moment of inertia must be parameterized manually in parameter
p1498. The test signal must first be set with parameters p5308 and p5309.
If "Once" is parameterized, the inertia estimator is deactivated after successful determi-
•
nation of the moment of inertia p1498. The parameters must then be saved retentively
(p0977=1).
If "Cyclically" is parameterized, the moment of inertia is determined continuously and
•
the controller parameters adapted. After the moment of inertial has been determined
successfully (r1407.26 = 1), it is recommended that you save the parameters so that the
controller does not have to resettle after a POWER ON.
The function Current setpoint filter adaptation (Page 127) is enabled once this bit is activat-
ed. This function can be useful for damping a variable resonance in the mechanical system.
With this function, these axes are adapted to the dynamic response set in p5275. This is
required for interpolating axes. The time in p5275 should be set with the lowest dynamic
response in accordance with the axis.
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions