Siemens SIMOTICS S-1FL6 Operating Instructions Manual page 198

Tuning
10.1 Controller overview
Servo gains
● Position loop gain
Position loop gain directly influences the response level of the position loop. If the
mechanical system does not vibrate or produce noises, you can increase the value of
position loop gain so that the response level can be increased and positioning time can
be shortened.
● Speed loop gain
Speed loop gain directly influences the response level of the speed loop. If the
mechanical system does not vibrate or produce noises, you can increase the value of
speed loop gain so that the response level can be increased.
● Speed loop integral gain
With adding integral component into speed loop, the servo drive can efficiently eliminate
the steady-state error of speed and give response to a small change to speed.
Generally speaking, if the mechanical system does not vibrate or produce noises, you
can decrease speed loop integral gain so that the system rigidity can be increased.
If the load inertia ratio is very high or the mechanical system has a resonance factor, it
must be guaranteed that the speed loop integral time constant is big enough; otherwise,
the mechanical system may have a resonance.
● Position loop feed forward gain
With position loop feed forward gain, the responsiveness level can be increased. If the
position loop feed forward gain is too big, motor speed can have overshoots and the
digital output signal INP can have a repeated on/off. You, therefore, must monitor the
changes to speed waveform and the action of the digital output signal INP during
adjustment. You can slowly adjust the position loop feed forward gain. The effect of feed
forward function is not obvious if the position loop gain is too big.
198
Parameter Value range
p29110 0.00 to 300.00
Parameter Value range
p29120 0 to 999999.00
Parameter Value range
p29121 0 to 100000.00
p29022 1 to 10000
Parameter Value range
p29111 0 to 200
Default value Unit
1.8 1000/min
Default value Unit
0.3 Nms/rad
Default value Unit
15 ms
1 -
Default value Unit
0 %
Operating Instructions, 09/2016, A5E37208830-002
Description
Position loop gain
Description
Speed loop gain
Description
Speed loop integral time
Tuning: Ratio of total inertia
moment to motor inertia moment
Description
Speed pre-control factor (feed
forward)
SINAMICS V90, SIMOTICS S-1FL6