Servo control
4.8 Autotuning
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
115
The term "Autotuning" comprises all drive-internal functions that adapt controller parameters
during operation based on internal measured variables.
The main applications of the autotuning functions are:
● Support of the commissioning
● Adaptation of the controller during major changes in the mechanical system
The set parameters are visible in the parameters, but not saved permanently.
Overview of the most important autotuning process
Speed controller
optimization:
- X With p1960 = 3.4 the total moment of inertia is measured
and the speed controller and acceleration precontrol are
Automatic
controller setting
X - The speed controller is set automatically via the
STARTER with this process.
Filters are set automatically in the current setpoint arm
(e.g. for damping resonance) via the automatic controller
setting on the speed controller.
One button
tuning
X -
With servo control the speed and EPOS controller can be
optimized with this optimization process.
A control system is measured once and the controllers
Online tuning X - With this optimization process the controller parameters
are determined from the constant estimated or parame-
terized moments of inertia (motor torque and moment of
inertia).
It is recommended in all cases where EPOS is used.
Online tuning can also be set if the engineering tool (e.g.
STARTER) cannot be used upon commissioning to opti-
mize the EPOS position controller.
If the measurement/optimization is not required on a
constant basis then deactivating online tuning again once
the controller data has been calculated and then perma-
nently saving the values determined for the controller
optimization and the filter settings (RAM to ROM) is rec-
Current setpoint
filter adaptation
X - The current setpoint filter adaptation is provided for sys-
tems that display a variable mechanical resonance fre-
quency during operation.
This way a selected current setpoint filter can be auto-
matically shifted to a mechanical resonance frequency.
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