Siemens SINAMICS V90 Operating Instructions Manual page 225

If the dynamic factor setting cannot be increased up to the desired level because of machine
resonance beyond 250 Hz, the function of resonance suppression can be used to suppress
machine resonance and thus increase dynamic factor. Refer to Section "Resonance
suppression (Page 228)" for detailed information about the function of resonance
suppression.
Note
The tuning configuration parameters must be set carefully when the auto tuning function is
disabled (p29021=0).
During tuning, you can modify the dynamic factor with p29020[1] to obtain the different
dynamic performance after p29022 has been tuned and accepted by the drive.
After servo on, the real-time auto tuning function will always effective for the servo drive. If
you want to end or interrupt the real-time auto tuning process, set the drive to the servo off
state then set p29021 to 0.
The following relevant parameters can be continuous set in real time when you are using the
real-time auto tuning:
Parame-
ter
p1417
p1419
p29022
p29110
p29120
p29121
p29111
Note
When using the real-time auto tuning function, if the default values are inappropriate, the
host controller cannot run the motor. To run the motor with the host controller, you need to
let the drive tune the parameters automatically through trial run with the real-time auto tuning
function. After the tuning is completed, the host controller can run the motor.
Note
After the real-time auto tuning is activated, do not change other auto tuning related
control/filter parameters since these parameters can be set automatically and your changes
will not be accepted.
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2017, A5E37208830-003
Value range Default
value
0.5 to 16000 1999
0.5 to 16000 1999
1 to 10000 1
0.00 to 1.8
300.00
0 to 999999 0.3
0 to 100000 15
0 to 200 0
Unit Description
Hz Speed setpoint filter 1 denominator natural frequen-
cy
Hz Speed setpoint filter 1 numerator natural frequency
- Ratio of load moment of inertia
1000/mi Position loop gain
n
Nms/ra Speed loop gain
d
ms Speed loop integral time
% Speed pre-control factor (feed forward)
Tuning
10.4 Real-time auto tuning
225