Tuning
9.4 Real-time auto tuning
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2019, A5E36037884-007
323
35 dynamic factors are available for the SINAMICS V90 servo drive.
Dynamic factor (p29020)
Machine rigidity
1
Low
2
↑
...
17
18
Middle
19
↓
...
35
High
If the dynamic factor setting cannot be increased up to the desired level because of machine
resonance beyond 250 Hz, the function of resonance suppression can be used to suppress
machine resonance and thus increase dynamic factor. Refer to Section "Resonance
suppression (Page 326)" for detailed information about the function of resonance
suppression.
Note
The tuning configuration parameters must be set carefully when the auto tuning function is
disabled (p29021=0).
During tuning, you can modify the dynamic factor with p29020[1] to obtain the different
dynamic performance after p29022 has been tuned and accepted by the drive.
After servo on, the real-time auto tuning function will always effective for the servo drive. If
you want to end or interrupt the real-time auto tuning process, set the drive to the servo off
state then set p29021 to 0.
The following relevant parameters can be continuous set in real time when you are using the
real-time auto tuning.
Parameter
Range
Default
Unit
Description
p1417
0.5 to 16000
1999
Hz
Speed setpoint filter 1 denominator natural
frequency
p1419
0.5 to 16000
1999
Hz
Speed setpoint filter 1 numerator natural
frequency
p29022
1 to 10000
1
-
Ratio of load moment of inertia
p29110[0]
0.00 to
300.00
Motor de-
pendent
1000/mi
n
Position loop gain 1
p29120[0]
0 to 999999
Motor de-
pendent
Nms/rad Speed loop gain 1
p29121[0]
0 to 100000
15
ms
Speed loop integral time 1
p29111
0.00 to
200.00
0.00
%
Position loop feed forward gain
