Online Tuning; Drive-Based" Online Tuning - Siemens SINAMICS S120 Function Manual

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Table of Contents

Servo control

5.9 Autotuning

Adjustment range

0 to 30000 degrees

0 to 30000 mm

0 ms to 5000 ms

Online tuning

The "Online tuning" function is enabled via the "Moment of inertia estimator (Page 540)"

function module and can be used with EPOS for simple positioning tasks.

Function description

This function allows robust setting of the controller parameters for a drive during operation.

Through the online tuning, the relevant controller parameters for the speed controller and

position controller including precontrol are set automatically. The automatic calculation of the

controller parameters also depends on the moment of inertia of the motor and the load. The

load moment of inertia (p1498) can either be parameterized manually or determined once or

cyclically by activating the moment of inertia estimator.

Unstable controller for excessively low stiffness between the motor and load

Only the motor measuring system is taken into account for the calculation of the controller

If a load-side measuring system is used for the position control, this can result in an unstable

controller setting if the motor shaft is not adequately stiff and there is a relatively high load

moment of inertia – which in turn can lead to material damage.

● If the stiffness is too low, reduce the load dynamic factor using p5273.

● For all DDS where the same EDS is assigned with TTL/HTL encoder, ensure that the

Factory set‐

identical parameterization is used (e.g. p5300[0] = ‑1 and p5300[1] = ‑1, etc.).

Setting / display (with explanations)

Distance limiting for the OBT:

● Following activation of the OBT (p5300), the traversing range in

positive and negative direction is restricted to the set distance

limiting specified in degrees. The value 360 ° corresponds with one

full rotation of the motor.

Complete test signal (triangular)

Function Manual, 06/2019, 6SL3097-5AB00-0BP2

Drive functions