Siemens SINAMICS S120 Commissioning Manual page 199

The following settings can be made as input parameters for the optimization.
● Measured signals
– Amplitude
– Offset
● Objective of the optimization
The following optimization types are available:
– Robust (e.g. for spindles)
– Moderate (e.g. for speed-controlled axes)
– Strict (e.g. for highly dynamic axes)
The speed controller amplification and the reset time are determined on the basis of the
setting which is suitable for the particular application.
Notes and restrictions
● Loss of focus
A loss of focus on the "Auto Servo Tuning" screen form automatically results in the
measurements being aborted. Make sure that you do not operate any other programs or
press any buttons while a servo tuning is running.
● Behavior of the basic positioner during AST
The EPOS is (temporarily) deactivated internally during the Auto Servo Tuning (AST).
● Optimization with basic settings
You can also optimize with the basic settings of AST. In this case, you do not make any
manual settings and start the optimization measurements with the basic settings.
● AST is only possible for single axes
The Auto Servo Tuning can only optimize single axes. In order to perform Auto Servo
Tuning, you have to isolate a machine axis from a control context, so that the machine
axis can be operated independently of other axes.
Commissioning with Startdrive
Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
Enter the amplitude of the measuring signal excitation as a percentage of the rated
torque.
As a rule, the drive can be optimized well with the amplitude presetting. In specific
cases, it may be necessary to increase or decrease the amplitude. However, a value
that is too high or too low may mean that the control loop cannot be optimally
calculated. This can lead to unstable control loops. Therefore, it is always
recommended to test the drive after the optimization.
Enter the speed offset as a percentage of the rated speed.
The offset compensates for non-linear frictional effects. When setting the offset,
ensure that any existing path limitations can be maintained during the measurement.
4.7 Basic parameterization of the drive objects
Commissioning
199