Siemens SIMATIC S7-1500 Function Manual page 201

Step
Checking the reference
speed
Optimize position con-
troller
Transfer the gain Kv to
the project.
Enable Motion Control
specific user program
Check the functioning
of the user program
End of commissioning
for a positioning axis
technology object
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC
Action to be performed
Traverse the axis in jog mode at low velocity in the positive
direction.
⇒ The displayed current velocity must match the velocity set-
point.
If the displayed current velocity deviates significantly from the
velocity setpoint, adjust the reference speed.
Use the Optimization (Page 207) commissioning function to
optimize the gain (Kv) of the position control loop.
For this purpose, adapt following error limits as needed.
Enter the gain Kv that you determined by means of the optimi-
zation function in your configuration data. Load your project
into the CPU.
Unlock the enabling technology objects lock in your user pro-
gram (MC_Power.Enable = TRUE).
Check the programmed functions of your user program.
To commission additional technology objects, perform the
corresponding steps again.
Commissioning
9.2 Commissioning guidelines
Supported by TIA Portal
"Technology object > Hard-
•
ware interface > Data ex-
change"
"Technology object > Com-
•
missioning > Axis control
panel"
"Technology object > Commis-
sioning > Optimization"
"Technology object > Configu-
ration > Extended parameters >
Control loop"
PLC programming
•
Motion Control instructions
•
Watch and force tables
•
Online and diagnostic func-
•
tions
See above.
201