Servo control
4.8 Autotuning
Drive functions
120 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
"Drive-based" online tuning
The "Online tuning" can be used with EPOS for simple positioning tasks. With the "Online
tuning" function, it is possible to automatically set robust controller parameters of a drive
during operation without user interaction. Through the online tuning, the relevant controller
parameters for the speed controller and position controller including precontrol are set
automatically. The automatic calculation of the controller parameters also depends on the
moment of inertia of the motor and the load. The load moment of inertia (p1498) can either
be parameterized manually or determined once or cyclically by activating the inertia
estimator (Page 583).
Note
The "Online tuning" functio
n is activated via the "Inertia estimator (Page 583)" function
Unstable controller for excessively low stiffness between the motor and load
Only the motor measuring system is taken into account for the calculation of the controller
parameters.
If a load-side measuring system is used for the position control, this can result in an
unstable controller setting if the motor shaft is not adequately stiff and there is a relatively
high load moment of inertia – which in turn can lead to material damage.
• If the stiffness is too low, reduce the load dynamic factor using p5273.
• For all DDS where the same EDS is assigned with TTL/HTL encoder, ensure that the
identical parameterization is used (e.g. p5300[0] = -1 and p5300[1] = -1, etc.).
Unstable controller when manually changing the controller parameters during autotuning
If you wish to manually change a controller parameter, that the "Online tuning"
automatically sets, then this can result in an unstable controller and therefore material
damage.
• Therefore, do not change the following parameters during the online tuning:
p1413, p1414 - p1426, p1428, p1429, p1433 - p1435, p1441, p1460 - p1465, p1656 -
p1676, p1703, p2533 - p2539, p2567.
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