Siemens SINAMICS V90 Operating Instructions Manual page 248

Tuning
9.1 Controller overview
Servo gains
● Position loop gain
Position loop gain directly influences the response level of the position loop. If the
mechanical system does not vibrate or produce noises, you can increase the value of
position loop gain so that the response level can be increased and positioning time can
be shortened.
● Speed loop gain
Speed loop gain directly influences the response level of the speed loop. If the
mechanical system does not vibrate or produce noises, you can increase the value of
speed loop gain so that the response level can be increased.
● Speed loop integral gain
With adding integral component into speed loop, the servo drive can efficiently eliminate
the steady-state error of speed and give response to a small change to speed.
Generally speaking, if the mechanical system does not vibrate or produce noises, you
can decrease speed loop integral gain so that the system rigidity can be increased.
If the load inertia ratio is very high or the mechanical system has a resonance factor, it
must be guaranteed that the speed loop integral time constant is big enough; otherwise,
the mechanical system may have a resonance.
● Position loop feed forward gain
With position loop feed forward gain, the responsiveness level can be increased. If the
position loop feed forward gain is too big, motor speed can have overshoots and the
digital output signal INP can have a repeated on/off. You, therefore, must monitor the
changes to speed waveform and the action of the digital output signal INP during
adjustment. You can slowly adjust the position loop feed forward gain. The effect of feed
forward function is not obvious if the position loop gain is too big.
248
Parameter Value range
p29110[0] 0.00 to 300.00
p29110[1] 0.00 to 300.00
Parameter Value range
p29120[0] 0 to 999999
p29120[1] 0 to 999999
Parameter Value range
p29121[0] 0 to 100000
p29121[1] 0 to 100000
p29022 1 to 10000
Parameter Value range
p29111 0.00 to 200.00
Default value Unit
Motor dependent 1000/min
1.00 1000/min
Default value Unit
Motor dependent Nms/rad
0.3 Nms/rad
Default value Unit
15 ms
20 ms
1 -
Default value Unit
0 %
Operating Instructions, 09/2015, A5E36037884
Description
Position loop gain 1
Position loop gain 2
Description
Speed loop gain 1
Speed loop gain 2
Description
Speed loop integral time 1
Speed loop integral time 2
Load moment of inertia ratio
Description
Position loop feed forward gain
SINAMICS V90, SIMOTICS S-1FL6