Siemens SINUMERIK 840D sl Commissioning Manual page 312

Drive tuning
10.3 Automatic servo tuning
Control measurement position control loop:
The closed position controller is measured with the new parameters. To do this, the new speed
and position control parameters are written to the drive and the NC. The feedforward control
must be disabled for this measurement. Depending on the option setting, this is the reason that
a message is output to press the reset button on the machine control panel. After the
measurement, the feedforward control is reactivated; this why another request for a reset (re)
is issued after the measurement .
⇒ Checking the measurement data quality: without parameters
The software for automatic tuning checks whether the excitation and offset velocity were
sufficient, and then outputs an appropriate message.
⇒ Measurement parameters:
Individual measurement parameters can be entered for each of the following measurements:
● Measure speed setpoint step for the mechanical model
● Measure speed-controlled system
● Measure speed-controlled system with reduced bandwidth
● Measure speed control loop for speed controller-controlled system model
● Measure speed control loop for checking
● Measure mechanical system
● Control measurement position control loop
⇒ Additional actions:
● Press the "Adapt strategy" softkey to adapt the default values to a predefined strategy. The
values of the pre-defined strategy are assigned to the user-defined strategy (108). All
parameters can be set in the "User-defined strategy". The tuning objective "Moderate
responsiveness" is the default setting for the "User-defined strategy".
● Press the "Meas. parameters >" softkey to adapt the parameters for a measurement. This
softkey can only be used when selecting the "User-defined strategy".
● Press the "Speed" and "Position" softkeys to toggle between speed controller and position
controller when selecting a strategy.
● "Cancel" and "OK" softkeys to cancel or accept the new settings.
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CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA