Siemens Sinamics V90 Operating Instructions Manual page 325

35 dynamic factors are available for the SINAMICS V90 servo drive.
If the dynamic factor setting cannot be increased up to the desired level because of machine
resonance beyond 250 Hz, the function of resonance suppression can be used to suppress
machine resonance and thus increase dynamic factor. Refer to Section "Resonance
suppression (Page 326)" for detailed information about the function of resonance
suppression.
Note
The tuning configuration parameters must be set carefully when the auto tuning function is
disabled (p29021=0).
During tuning, you can modify the dynamic factor with p29020[1] to obtain the different
dynamic performance after p29022 has been tuned and accepted by the drive.
After servo on, the real-time auto tuning function will always effective for the servo drive. If
you want to end or interrupt the real-time auto tuning process, set the drive to the servo off
state then set p29021 to 0.
The following relevant parameters can be continuous set in real time when you are using the
real-time auto tuning.
Parameter
p29022
p29110[0]
p29120[0]
p29121[0]
p29111
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2019, A5E36037884-007
Dynamic factor (p29020)
1
2
...
17
18
19
...
35
Range
p1417 0.5 to 16000
p1419 0.5 to 16000
1 to 10000
0.00 to
300.00
0 to 999999
0 to 100000
0.00 to
200.00
Default Unit
1999 Hz Speed setpoint filter 1 denominator natural
frequency
1999 Hz Speed setpoint filter 1 numerator natural
frequency
1 - Ratio of load moment of inertia
Motor de- 1000/mi Position loop gain 1
pendent n
Motor de- Nms/rad Speed loop gain 1
pendent
15 ms Speed loop integral time 1
0.00 % Position loop feed forward gain
9.4 Real-time auto tuning
Machine rigidity
Low
↑
Middle
↓
High
Description
Tuning
323