Siemens SINAMICS S120 Function Manual page 200

Servo control
4.21 Voltage precontrol
7. Restore the P gain (p1715) and integral time (p1717) of the current controller back to the
original values.
8. Again measure a current controller setpoint step.
Figure 4-34
In most cases, the voltage precontrol is correctly set after the eddy current compensation
(see example). If required, you can correct again using p1734.
Legend for the measurement diagrams
200
Example: after optimization/tuning
Torque-generating current setpoint
Torque-generating current setpoint unsmoothed
Quadrature-axis voltage setpoint
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions