Optimizing The Position Controller - Siemens SINAMICS G120D Operating Instructions Manual

7.6.5.2

Optimizing the position controller

To optimize the position controller, you must move the axis with the position control and
assess the control performance. How you move an axis using the STARTER is described
below.
Optimizing the position controller
Procedure
To optimize the position controller, proceed as follows:
1. In the control panel, select the operating mode "Basic positioner".
2. Click the "Jog" button.
3. Enter a speed setpoint.
4. Adjust the proportional gain.
Assess the controller characteristics:
– If the motor is running unevenly, the controller is unstable. In this case, reduce the
Converter with control units CU250D-2
Operating Instructions, 04/2015, FW V4.7.3, A5E34261542B AB
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proportional gain of the position controller.
If the closed-loop control is stable, but you are still dissatisfied with the control
dynamics, then increase the position controller proportional gain. Then check the
stability of the controller.
Advanced commissioning
7.6 Basic positioner and position control
175