Siemens SIMOTICS S-1FL6 - Page 94

Getting Started
94 A5E36037886-003, 04/2017
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effective
Can be
changed
p29020[0..
.1]
Tuning: Dynamic factor
1
35
18
-
U16
IM
T, U
Description: The dynamic factor of auto tuning. 35 dynamic factors in total are available.
Index:
• [0]: Dynamic factor for one-button auto tuning
•
[1]: Dynamic factor for real-time auto tuning
p29021
Tuning: Mode selection
0
5
0
-
I16
IM
T
Description:
Selection of a tuning mode.
• 0: Disabled
• 1: One-button auto tuning
• 3: Real-time auto tuning
•
5: Disable with default controller parameters
p29022 Tuning: Ratio of total
inertia moment to motor
inertia moment
1.00 10000.00 1.00 - Float IM T, U
Description: Ratio of total inertia moment to servo motor inertia moment.
p29023 Tuning: One-button auto
tuning configuration
0 0xffff 0x0007 - U16 IM T
Description:
One-button auto tuning configuration.
• Bit 0: The speed controller gain is determined and set using a noise signal.
• Bit 1: Possible required current setpoint filters are determined and set using a noise signal. As a conse-
quence, a higher dynamic performance can be achieved in the speed control loop.
• Bit 2: The inertia moment ratio (p29022) can be measured after this function is running. If not set, the iner-
tia moment ratio must be set manually with p29022.
• 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.
p29024 Tuning: Real-time auto
tuning configuration
0 0xffff 0x004c - U16 IM T
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.