Siemens SINAMICS S120 Function Manual page 114

Servo control
4.8 Autotuning
Additional settings and displays
Parameter
p5292
r5293
r5294
r5295
p5296
p5297
p5308
p5309
Automatic pre-assignment
When the "One button tuning" function is activated, settings are made that should ensure the
safe and dynamic operation of the drive.
The mechanical drive train is measured with the aid of test signals. In this way, the controller
parameters can be calculated so that the drive train is set as dynamically as possible.
The test signals comprise, on the one hand, a noise excitation during which the drive
executes a relative high-frequency motion for a few milliseconds. The following settings are
required for this:
● The speed controller gain is set with p5301.0 = 1.
Parameter p5292 is a multiplier for this gain. An amplitude reserve of 6 dB is taken into
account with p5292 = 100%.
● Current setpoint filters 1...4 are parameterized with p5301.1 = 1.
These filters are set in order to achieve greater gains in the speed control loop. Typically,
bandstop filters are applied to mechanical resonances. Filters are only set when a greater
speed controller gain p1460 can be achieved.
On the other hand, a very low frequency speed setpoint signal is applied to the drive. The
motor makes a clearly visible movement. Distance amplitude and duration must be set with
parameters p5308 and p5309.
In this way, the moment of inertia of the drive train is estimated. All the remaining controller
parameters are set. The setting is performed in the same way as for "Online tuning".
114
Adjustment Factory
range setting
25%...150% 60%
- -
- -
- -
5%...300% 70%
0...210000 0 rpm
rpm
0 U...3000 0 rev
U
0 ms...5000 2000 ms
ms
Setting/display
Dynamic response factor for the P gain of the speed
controller.
The speed control may become instable if the values are too
high.
Display of the determined proportional gain of the speed
controller calculated from the FFT measurement during "One
button tuning".
Display of the identified mechanical zero positions.
Display of the identified mechanical pole positions.
Setting the amplitude of the PRBS signal. The value refers to
the rated torque of the motor r0333.
Setting the speed offset of the motor. This should prevent
non-linear effects, such as backlash or stiction, influencing the
measured values.
Test signal distance limit
Test signal duration
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Drive functions