Siemens SINAMICS S120 Function Manual page 147

5. Set the speed controller:
– When the "Moment of inertia estimator" function module is active, accept the moment
– Deactivate the "Moment of inertia estimator" function module (p1400.18 = 0).
– Start a trace recording of parameter r0063 (speed actual value) and r0079 (torque).
– Adjust the moment of inertia (p1498; if possible, increase), and in the controlled range,
– Optimize the settling behavior using the P gain (p1470) and the integral time (p1472).
– Exit the trace recording.
– Finally, again set the appropriate total moment of inertia - or activate the "Moment of
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
of inertia that has been determined.
enter a speed setpoint (speed higher than p1755).
inertia estimator" function module
Servo control
4.12 Encoderless operation
147