Servo control
4.8 Autotuning
Drive functions
116 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
The speed controller and position controller of a drive can be automatically tuned with the
"One button tuning" function. This is a drive-internal function. Therefore, no external
engineering tool is required.
With "One button tuning", the mechanical drive train is measured with the aid of short test
signals. In this way, the controller parameters can be optimally adapted to the existing
mechanical system.
Unstable controller when manually changing the controller parameters during autotuning
If you wish to manually change a controller parameter, that the "One Button Tuning"
automatically sets, then this can result in an unstable controller and therefore material
damage.
• Therefore, do not change the following parameters during the One Button Tuning:
p0430, p1160, p1413 - p1426, p1428, p1429, p1433 - p1435, p1441, p1460 - p1465,
p1498, p1513, p1656 - p1676, p1703, p2533 - p2539, p2567, p2572, p2573.
Only the motor measuring system is taken into account when optimizing the position
controller. If an external measuring system is used for the position control, this can result in
an unstable controller setting. The "One button tuning" function also does not support
different sampling times for current controller and torque/speed controller. It is recommended
not to use the "One button tuning" function with this configuration.
You can configure the activation and deactivation of the autotuning function via parameter
p5300.
The following settings are possible:
-1 The "Autotuning" function is set inactive. The setting is automatically corrected to
p5300 = 0. The default settings for the speed controller and position controller are also
0 The "Autotuning" function is set inactive. The current setting of all controller parame-
ters are retained as volatile values. The parameters must be saved in the non-volatile
memory for permanent storage of the values determined for the speed controller and
position controller (p0977 = 1 or RAM after ROM).
1 The "One button tuning" function is active. A new calculation of the controller parame-
ters is performed once after the end of the one button tuning. p5300 = 0 is then set.
2 The "Online tuning" function is active. A new calculation of the controller parameters is
performed cyclically if the estimated moment of inertia changes.
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