SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2019, A5E36037884-007
313
Tuning
9
9.1
Controller overview
The SINAMICS V90 servo drive consists of three control loops:
●
Current control
●
Speed control
●
Position control
The following block diagram shows the relationship between these three control loops:
In theory, frequency width of the inside control loop must be wider than that of the outer
control loop; otherwise, the whole control system can vibrate or have a low response level.
The relationship between the frequency widths of these three control loops is as follows:
Current loop > speed loop > position loop
Since the current loop of SINAMICS V90 servo drive already has a perfect frequency width,
it is only necessary for you to adjust the speed loop gain and the position loop gain.
Servo gains
●
Position loop gain
Position loop gain directly influences the response level of the position loop. If the
mechanical system does not vibrate or produce noises, you can increase the value of
position loop gain so that the response level can be increased and positioning time can
be shortened.
Parameter
Range
Default
Unit
Description
p29110[0]
0.00 to
300.00
Motor de-
pendent
1000/mi
n
Position loop gain 1
p29110[1]
0.00 to
300.00
1.00
1000/mi
n
Position loop gain 2
