Siemens SINAMICS S120 Function Manual page 199

Proceed as follows to optimize (p1734 and p1735):
1. Set the current controller P gain (p1715) lower by a factor of 10.
2. Set the current controller integral time (p1717) higher by a factor of 10.
3. Set the decrease of the eddy current compensation p1734 = 0.
4. Again measure a current controller setpoint step (example, following diagram)
Figure 4-33
The measurement result in the example indicates that after reaching the setpoint, the
current decays according to an exponential function (1-exp(-t/Tsm)). You estimate the
smoothing time based on the time from the point of contact of the initial tangent with the
final value straight line.
5. Enter the time constant in p1735.
6. In p1734, enter by what percentage the setpoint point of contact should extend beyond
the final value straight line (e.g. (1.5A/1.32A -1)·100 % = 13.6 %).
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Example
Servo control
4.21 Voltage precontrol
199