Tuning Mode - Siemens SINAMICS V90 Operating Instructions Manual

9.2

Tuning mode

Responsivity of a machine can be optimized by tuning. The responsivity is reflected by
dynamic factor and determined by the servo gains that is set in the servo drive.
The servo gains are set by using a combination of parameters. These parameters influence
each other so you must consider the balance between set values when setting these values.
Generally, the responsivity of a machine with high rigidity can be improved by increasing the
servo gains; however, if the servo gains of a machine with low rigidity are increased, the
machine can vibrate and the responsivity cannot be improved.
NOTICE
Effectiveness of servo gains
The tuning function only uses the first group of servo gains (position loop gain 1, speed
loop gain 1 and speed loop integral time 1).
The following tuning functions are available for the SINAMICS V90 servo drive.
Select a tuning mode by setting the parameter p29021:
Parameter
Auto-tuning modes
The SINAMICS V90 supplies two auto-tuning modes: one-button auto tuning and real-time
auto tuning. The auto tuning function can optimize control parameters with ratio of machine
load moment of inertia (p29022) and set suitable current filter parameters to suppress the
machine resonance automatically. You can change the dynamic performance of the system
by setting different dynamic factors.
● One-button auto tuning
– One-button auto tuning estimates the machine load moment of inertia and mechanical
● Real-time auto tuning
– Real-time auto tuning estimates the machine load moment of inertia automatically
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 09/2015, A5E36037884
Setting value
p29021 0 (default)
1
3
5
characteristics with internal motion commands. To achieve the desired performance,
you can execute the process many times before you control the drive with the host
controller. The maximum speed is limited by the rated speed.
while the drive is running with the host controller command. After enabling the servo
Auto tuning is disabled (manual tuning) without changing servo
gains relevant parameters.
One-button auto tuning
Identify the ratio of load moment of inertia and automatically ad-
just servo gains accordingly.
Real-time auto tuning
Identify the ratio of load moment of inertia and automatically ad-
just servo gains in real time.
Auto tuning is disabled (manual tuning). All servo gains relevant
parameters are set to tuning default values.
9.2 Tuning mode
Description
Tuning
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