Tuning
9.4 Real-time auto tuning
SINAMICS V90, SIMOTICS S-1FL6
322
Operating Instructions, 04/2019, A5E36037884-007
Parameter settings
You can set the ratio of machine load moment of inertia (p29022) with the following methods:
●
Enter it manually if you have known the ratio of machine load moment of inertia
●
Use the ratio of machine load moment of inertia estimated by the one-button auto tuning
function directly
●
Estimate the ratio of machine load moment of inertia with real-time auto tuning (p29024.2
= 1). When you have obtained a stable value of p29022, you can stop estimating it by
setting p29024.2 = 0.
Parameter
Range
Default
Unit
Description
p29020[0...1]
1 to 35
18
-
The dynamic factor of auto tuning.
•
[0]: dynamic factor for one
-button auto
tuning
•
[1]: dynamic factor for real
-time auto
tuning
p29021
0 to 5
0
-
Selection of a tuning mode.
•
0: disabled
•
1: one-button auto tuning
•
3: real-time auto tuning
•
5: disable with default controller parame-
ters
p29022
1 to 10000
1
-
Ratio of load moment of inertia
p29024
0 to 0xffff
0x004c
-
Real-time auto tuning configuration
p29025
0 to 0x003f
0x0004
-
Overall tuning configuration
p29028
0.0 to 60.0
7.5
ms
Pre-control time constant
Parameter p29028 is available when the multi-axis interpolation function is activated
(p29024.7 = 1). If the axes are used as the interpolation axes, you need to set the same pre-
control time constants (p29028) for them. After tuning is completed, you need to manually
set the same position loop gains (p29110 [0]) for them if the tuning results are different.
You can configure the dynamic factor of the servo system with the parameter p29020.
Higher dynamic factor means higher tracking ability and shorter settling time but also higher
possibility of resonance. You should find a desired dynamic factor within a resonance-free
range.
