Optimize Position Controller - Siemens SIMATIC S7-1500 Function Manual

Commissioning
9.4 Optimization
9.4.2

Optimize position controller

Requirement
● The CPU must be in RUN mode.
● The project has been created and downloaded to the CPU.
● The technology object is disabled by your user program (MC_Power.Enable = FALSE).
● The axis control panel for the technology object is not used by another installation of the
TIA Portal (Team Engineering as of CPU V1.5).
Optimizing position control gain (Kv)
Proceed as follows to optimize the gain (Kv):
1. In the "Master control" area, click the "Activate" button to activate master control for the
technology object, and to establish an online connection to the CPU.
A warning message is displayed.
2. If necessary, adapt the sign-of-life monitoring and confirm with "OK".
3. In the "Axis" area, click the "Enable" button to enable the technology object.
4. As appropriate, configure values for the distance, duration, and dynamics of a test step.
5. Enter a start value for the gain. Start with a low value.
6. Click the "Forward" or "Start" button to start a test step for the optimization.
For the specified duration, a setpoint is output according to the specified distance. The
axis moves by the specified distance. A trace recording of the motion (setpoint and actual
values) is created automatically.
You will find a full description of the trace function in the section on using the trace and
logic analyzer function.
Note
Adapt following error limits
If error messages from following error monitoring are repeatedly displayed during
optimization, temporarily adapt the following error limits.
7. Evaluate the curve of the trace recording. Adapt the gain incrementally. Click the
"Forward" or "Backward" button after each value you enter. This applies the value and
start a new movement and trace recording each time.
When adjusting the gain, pay attention to the following properties of the curve:
● The curve shows a brief compensation time.
● The curve does not show any motion reversal of the actual position.
● When approaching the position setpoint, no overshoot occurs.
● The curve shows a stable overall behavior (oscillation-free curve).
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S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC