Siemens Sinamics V90 Operating Instructions Manual page 363

Par. No. Name
p29024 Tuning: Real-time auto
tuning configuration
Description: Real-time auto tuning configuration.
Bit 2: The inertia moment ratio (p29022) is estimated while the motor is running, if not set, the inertia mo-
•
ment ratio must be set manually with p29022.
Bit 3: If not set, the inertia moment ratio (p29022) is estimated only once and the inertia estimator is deac-
•
tivated automatically after the estimation is completed. If the bit is set to 1, the inertia moment ratio is esti-
mated in real time and the controller adapts the parameters continuously. You are recommended to save
the parameters when the estimation result is satisfied. After that, when you power on the drive next time,
the controller will be started with the optimized parameters.
Bit 6: The adaption of current setpoint filter. This adaption may be necessary if a mechanical resonance
•
frequency changes in operation. It can also be used to dampen a fixed resonance frequency. Once the
control loop has stabilized, this bit should be deactivated and to save parameters in a non-volatile
memory.
Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary
•
for interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic re-
sponse.
p29025 Tuning: Configuration
overall
Description: Overall configuration of auto tuning, apply for both one-button and real-time auto tuning.
Bit 0: For significant differences between the motor and load moment of inertia, or for low dynamic perfor-
•
mance of the controller, then the P controller becomes a PD controller in the position control loop. As a
consequence, the dynamic performance of the position controller is increased. This function should only
be set when the speed pre-control (bit 3 = 1) or the torque pre-control (bit 4 = 1) is active.
Bit 1: At low speeds, the controller gain factors are automatically reduced in order to avoid noise and oscil-
•
lation at standstill. This setting is recommended for incremental encoders.
Bit 2: The estimated load moment of inertia is taken into account for the speed controller gain.
•
Bit 3: Activates the speed pre-control for the position controller.
•
Bit 4: Activates the torque pre-control for the position controller.
•
Bit 5: Adapts acceleration limit.
•
Note:
Speed pre-control
The bit 3 of the p29025 will be set to 1 automatically after the factory default.
•
You can set the bit 3 of p29025 manually in all control modes.
•
Torque pre-control
The bit 4 of p29025 will be set to 1 automatically if the following conditions are fulfilled simultaneously:
•
– Working with the 200 V drives
– Working in S control mode (p29003 = 2).
The bit 4 of p29025 will not be set to 1 automatically if either of the following conditions is fulfilled:
•
– Working with the 400 V drives
– Working in all control modes except for the S controm mode (p29003 ≠ 2).
You can set the bit 4 of p29025 manually in all control modes.
•
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2019, A5E36037884-007
Min Max
0 0xffff
0 0x003f
Factory Unit Data
Setting type
0x004c - U16
0x0004 - U16
Parameters
10.2 Parameter list
Effective Can be
changed
IM T
IM T
361