Siemens SINUMERIK 828D Commissioning Manual page 187

Example for "Speed": Strategy 303
Figure 6-4
The most important settings are: Tuning aggressiveness and minimum integral time Tn.
● Tuning aggressiveness:
This parameter determines the setting of Kp and Tn based on stability limits. Depending
on this setting, the values for the phase reserve and amplitude reserve are pre-assigned.
– Default setting = 0.5
– Min = 0 [maximum stability]
– Max = 1 [maximum aggressiveness]
● Minimum integral time Tn:
This parameter prevents automatic servo tuning from setting the integrator time of the speed
control loop too low. If the automatic servo tuning sets a value lower than this parameter
has set, the actual value used will be limited to the value set by the minimum integral time
Tn.
A higher integral time ensures a more rugged closed-loop control if changes to the weight
or the moment of inertia are expected. This is recommended for direct drives and main
spindles of lathes.
– Default setting = 10 ms
– Min = 0.5 ms
– Max = 100 ms
CNC commissioning
Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
"Strategy: n/v controller" - example
6.2 Automatic servo optimization
Tuning
173