Siemens SIMOTICS S-1FL6 - Page 95

Getting Started
A5E36037886-003, 04/2017
95
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effective
Can be
changed
p29025
Tuning: Configuration
overall
0
0x003f
0x0004
-
U16
IM
T
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.
p29026 Tuning: Test signal dura-
tion
0 5000 2000 ms U32 IM T
Description: The duration time of the one-button auto tuning test signal.
p29027 Tuning: Limit rotation of
motor
0 30000 0 ° U32 IM T
Description: The limit position with motor rotations during one-button auto tuning. The traversing range is
limited within +/- p29027 degrees (motor run one revolution is 360 degree).
p29028 Tuning: Pre-control time
constant
0.0 60.0 7.5 ms Float IM T, U
Description: Sets the time constant for the pre-control symmetrization for auto tuning.
As a consequence, the drive is allocated a defined, dynamic response via its pre-control.
For drives, which must interpolate with one another, the same value must be entered.
The higher this time constant is, the smoother the drive will follow the position set point.
Note:
This time constant is only effective when multi-axis interpolation is selected (bit 7 of p29023 and
p29024).
p29030
PTO: Number of pulse
per revolution
0, 30
16384
1000
-
U32
IM
T
Description:
Number of output pulses per motor revolution.
If this value is 0, the number of required output pulses is decided by the electronic gear ratio.
p29031 PTO: Numerator of elec-
tronic gear
1 214700000
0
1 - U32 IM T
Description:
The numerator of the electronic gear ratio for the output pulses.
For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating Instruc-
tions or use the SINAMICS V-ASSISTANT to do the calculation.
p29032 PTO: Denominator elec-
tronic gear
1 214700000
0
1 - U32 IM T
Description:
The denominator of the electronic gear ratio for the output pulses.
For detailed information about the calculation of a denominator, refer to the SINAMICS V90 Operating Instruc-
tions or use the SINAMICS V-ASSISTANT to do the calculation.
p29033
PTO: Direction change
0
1
0
-
I16
IM
T
Description:
Select the PTO direction.
• 0: PTO positive
PTO direction does not change. PTO A leads PTO B with 90 degrees when the motor rotates in clockwise
direction. PTO B leads PTO A with 90 degrees when the motor rotates in counter- clockwise direction.
• 1: PTO negative
PTO direction changes. PTO A leads PTO B with 90 degrees when the motor rotates in counter-clockwise
direction. PTO B leads PTO A with 90 degrees when the motor rotates in clockwise direction.