Siemens SINAMICS S120 Function Manual page 118

Servo control
5.9 Autotuning
Note
Function and supplementary conditions for the inertia estimator
Please observe the notes in chapter Moment of inertia estimator (Page 540).
Note
Resetting the inertia estimator
Through deactivation and renewed activation of the online tuning, the estimated load moment
of inertia and the load torques are reset.
Setting the sequential control system
The following sequence control settings can be made via p5302:
Bit
00
01
02
03
06
07
Parameterizing the controller
You can parameterize the controller as follows via parameter p5271:
● Evaluate the estimated load for the speed controller gain with p5273.
● Activate the speed precontrol for the basic positioner (EPOS).
● Activate torque precontrol.
● Only with activated speed precontrol (bit 3) or torque precontrol (bit 4):
Use the controller as PD controller in the position control loop to increase the dynamic
response of the position controller.
● Determine the maximum acceleration limits for the basic positioner (EPOS).
116
Effect
The speed controller gain is determined and set with the aid of a noise signal.
"Function is being prepared"
Any required current setpoint filters are determined and set with the aid of a noise signal. In
this way, a higher dynamic response can be achieved in the speed control loop.
"Function is being prepared"
With this bit, the moment of inertia is determined with the aid of the inertia estimator. If this bit
is not set, the load moment of inertia must be parameterized manually in parameter p1498.
The test signal must first be set with parameters p5308 and p5309.
● If "Once" is parameterized, the inertia estimator is deactivated after successful
determination of the moment of inertia p1498. The parameters must then be saved in a
non-volatile memory (p0977 = 1).
● If "Cyclically" is parameterized, the moment of inertia is determined continuously and the
controller parameters adapted. As soon as the moment of inertia has been successfully
established (r1407.26 = 1), we recommend saving the parameters. The necessity for
resettling of the controllers following a POWER ON will thus be avoided.
The function Current setpoint filter adaptation (Page 120) is enabled once this bit is activated.
This function can be useful for damping a variable resonance in the mechanical system.
With this function, these axes are adapted to the dynamic response set in p5275. This is
required for interpolating axes. The time in p5275 should be set with the lowest dynamic
response in accordance with the axis.
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Drive functions