Siemens SINAMICS V90 Operating Instructions Manual page 255

Par. No. Name
p29024 Tuning: Real-time auto
tuning configuration
Description: Real-time auto tuning configuration.
Bit 2: The inertia moment ratio (p29022) is estimated while the motor is running, if not set, the inertia mo-
•
ment ratio must be set manually with p29022.
Bit 3: If not set, the inertia moment ratio (p29022) is estimated only once and the inertia estimator is deac-
•
tivated automatically after the estimation is completed. If the bit is set to 1, the inertia moment ratio is esti-
mated in real time and the controller adapts the parameters continuously. You are recommended to save
the parameters when the estimation result is satisfied. After that, when you power on the drive next time,
the controller will be started with the optimized parameters.
Bit 6: The adaption of current setpoint filter. This adaption may be necessary if a mechanical resonance
•
frequency changes in operation. It can also be used to dampen a fixed resonance frequency. Once the
control loop has stabilized, this bit should be deactivated and to save parameters in a non-volatile
memory.
Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary
•
for interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic re-
sponse.
p29025 Tuning: Configuration
overall
Description: Overall configuration of auto tuning, apply for both one-button and real-time auto tuning.
Bit 0: For significant differences between the motor and load moment of inertia, or for low dynamic perfor-
•
mance of the controller, then the P controller becomes a PD controller in the position control loop. As a
consequence, the dynamic performance of the position controller is increased. This function should only
be set when the speed pre-control (bit 3 = 1) or the torque pre-control (bit 4 = 1) is active.
Bit 1: At low speeds, the controller gain factors are automatically reduced in order to avoid noise and oscil-
•
lation at standstill. This setting is recommended for incremental encoders.
Bit 2: The estimated load moment of inertia is taken into account for the speed controller gain.
•
Bit 3: Activates the speed pre-control for the position controller.
•
Bit 4: Activates the torque pre-control for the position controller.
•
Bit 5: Adapts acceleration limit.
•
p29026 Tuning: Test signal dura-
tion
Description: The duration time of the one-button auto tuning test signal.
p29027 Tuning: Limit rotation of
motor
Description: The limit position with motor rotations during one-button auto tuning. The traversing range is
limited within +/- p29027 degrees (motor run one revolution is 360 degree).
p29028 Tuning: Pre-control time
constant
Description: Sets the time constant for the pre-control symmetrization for auto tuning.
As a consequence, the drive is allocated a defined, dynamic response via its pre-control.
For drives, which must interpolate with one another, the same value must be entered.
The higher this time constant is, the smoother the drive will follow the position set point.
Note: This time constant is only effective when multi-axis interpolation is selected (bit 7 of p29023 and
p29024).
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2017, A5E37208830-003
Min Max
- -
- -
0 5000
0 30000
0.0 60.0
Factory Unit Data
Setting type
0x004c - U16
0x0004 - U16
2000 ms U32
0 ° U32
7.5 ms Float
Parameters
11.2 Parameter list
Effective Can be
changed
IM T
IM T
IM T
IM T
IM T, U
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