Siemens SINAMICS S120 Function Manual page 112

Servo control
5.9 Autotuning
Function description
With One Button Tuning (OBT), the mechanical drive train is measured using short test signals
and the controller parameters are optimally adapted to the existing mechanics. As this
concerns a drive-internal function, no external engineering tool is required.
Restrictions
Only the motor measuring system is taken into account when optimizing the position controller.
If an external measuring system is used for the position control, this can result in an unstable
controller setting. Additionally, the OBT does not support different sampling times for current
controller and speed/velocity controller in this configuration. We therefore recommend that
OBT is not used in this configuration.
Note
When using OBT in conjunction with the function "Advanced Position Control (incl. Active
Vibration Suppression)" (APC), you must first deactivate the APC function.
Activating/deactivating autotuning
NOTICE
Unstable controller when manually changing the controller parameters during autotuning
If you wish to manually change a controller parameter that the One Button Tuning
automatically sets, then this can result in an unstable controller and therefore material
damage.
● Therefore, do not change the following parameters during the One Button Tuning:
Autotuning is activated / deactivated with parameter p5300. The following settings are possible:
Setting
-1
0
1
2
Note
Changing parameter p5300 changes parameters p5280 and p1400. Therefore after
deactivating the autotuning function check the accuracy of the configuration of parameters
p5280 and p1400 and amend these if required.
110
p0430, p1160, p1413 to p1426, p1428, p1429, p1433 to p1435, p1441, p1460 to 1465,
p1498, p1513, p1656 to p1676, p1703, p2533 to p2539, p2567, p2572, p2573
Explanation
The "Autotuning" function is set inactive. The setting is automatically corrected to p5300 = 0.
The default settings for the speed controller and position controller are also restored.
The "Autotuning" function is set inactive. The current setting of all controller parameters are
retained as volatile values. The parameters must be saved in the non-volatile memory for
permanent storage of the values determined for the speed controller and position controller
(p0977 = 1 or RAM after ROM).
The "One button tuning" function is active. A new calculation of the controller parameters is
performed once following completion of the OBT. p5300 = 0 is then set.
The "Online tuning" function is active. A new calculation of the controller parameters is per‐
formed cyclically if the estimated moment of inertia changes.
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Drive functions