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SINAMICS_S120
SINAMICS drive
Commissioning Workshop
•‘Closed loop’ Bode Analysis
•Current Controller Tuning
•Speed Controller Tuning
•Position Controller Tuning
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Set the Speed controller gain to 0.1(P1460) and int. time to 100msec
(P1462). Now select measuring Function 1 from the drop Down Choice
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Start the axis and then Run Trace and use X Cursor to find Frequency
of 1st Pole
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Open Current Setpoint Filter and use Previous value for Notch Frequency.
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Start the axis and Measuring function again . Now adjust the
Current controller gain and Int. times to achieve the desired response
P1715 = gain P1717 = int. time.
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Note the default value for the gain and integration time
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• This is an optional step to ensure the Kp value derived above does not produce a bode diagram that
raises above the 0db line.
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The Reference model can be used to dampen the initial overshoot with an aggressive Kp setting.
• Reference Model
– Red: Kp = 0.15 Nms/rad, Tn 6 ms, fref = 250 Hz, D = 0.707
– Green: Kp = 0.15 Nms/rad, Tn 6 ms ,fref = 60 Hz, D = 0.707
– Blue: Kp = 0.15 Nms/rad, Tn 6 ms, fref = 130 Hz, D = 0.707
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Step 1: Switch on the speed additional set-point from the axis System variable
Axis.servosettings.additionalcommandvalueswitch = YES
CAUTION: Remember to deactivate this setting upon completion of the position tuning.
Step 2: Setup a temporary program to enable the axis to allow the function generator to
enable movement of the axis.
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Step 3: Open the expert list and initialize the PV_Controller variables shown below.
Open the Expert list of the Axis for balanceFilterMode, kpc, and preCon
TypeOfAxis.NumberOfDataSets.ControllerStruct.PV_Controller.balanceFilterMode
3
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Step 3: The values from previous slide are now in the current value column
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Step 5: Configure the function generator to the Signal Name: Triangular with a carefully
selected Amplitude and Period
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Adjust the Positioning window and the Standstill window to prevent function from
Generating a Standstill error. Rotary axis will be in degrees.
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Step 6: Run the initial trace and note the Following error readings.
Kpc = 0.0 %
Kv = 10, Following error 0.4
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Step 7: Optimize the performance by setting Kpc Weighting factor of the precontrol
to 100%
Kpc = 100.0 %
Kv = 10, Following error 0.016
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Kpc = 100.0 %
Kv = 40, Following error 0.016
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Kpc = 100.0 %
Kv = 80, Following error 0.016
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Kpc = 100.0 %
Kv = 200, Following error 0.012 Axis movement may be to stiff for mechanical connections with this Kv
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This trace shows the same Position tuning values with the period decreased to 800 ms. The overall spike in the following
error can be reduced with adjustments to Kpc, though; this introduces a greater average following error.
Kpc = 100.0 %
Kv = 200, Following error 0.2 Axis movement may be to stiff for mechanical connections with this Kv
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