Siemens SINAMICS V90 Operating Instructions Manual page 266

Tuning
9.4 Real-time auto tuning
Parameter settings
You can set the ratio of machine load moment of inertia (p29022) with the following methods:
● Enter it manually if you have known the ratio of machine load moment of inertia
● Use the ratio of machine load moment of inertia estimated by the one-button auto tuning
function directly
● Estimate the ratio of machine load moment of inertia with real-time auto tuning (p29024.2
= 1). When you have obtained a stable value of p29022, you can stop estimating it by
setting p29024.2 = 0.
Parameter
p29020[0...1]
p29021
p29022
p29024
p29025
p29028
Parameter p29028 is available when the multi-axis interpolation function is activated
(p29024.7 = 1). If the axes are used as the interpolation axes, you need to set the same pre-
control time constants (p29028) for them. After tuning is completed, you need to manually
set the same position loop gains (p29110 [0]) for them if the tuning results are different.
You can configure the dynamic factor of the servo system with the parameter p29020.
Higher dynamic factor means higher tracking ability and shorter settling time but also higher
possibility of resonance. You should find a desired dynamic factor within a resonance-free
range.
35 dynamic factors are available for the SINAMICS V90 servo drive:
266
Value range Default
value
1 to 35 18
0 to 5 0
1 to 10000 1
0 to 0xffff 0x004c
0 to 0x003f 0x0004
0.0 to 60.0 7.5
Dynamic factor (p29020)
1
2
...
17
18
19
...
35
Unit Description
- The dynamic factor of auto tuning.
[0]: dynamic factor for one-button auto tuning
•
[1]: dynamic factor for real-time auto tuning
•
- Selection of a tuning mode.
0: disabled
•
1: one-button auto tuning
•
3: real-time auto tuning
•
5: disable with default controller parameters
•
- Ratio of load moment of inertia
- Real-time auto tuning configuration
- Overall tuning configuration
ms Pre-control time constant
Machine rigidity
Operating Instructions, 09/2016, A5E36037884-002
Low
↑
Middle
↓
High
SINAMICS V90, SIMOTICS S-1FL6