Sinamics S120 Tuning

Automation and Drives
SINAMICS_S120
SINAMICS drive
Commissioning Workshop
•‘Closed loop’ Bode Analysis
•Current Controller Tuning
•Speed Controller Tuning
•Position Controller Tuning
Engineering-Software SIMOTION SCOUT

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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
Start with the first

Measuring function from
the drop down list. This
function is used to locate
the frequency of the
Current set point
bandwidth filter.
The axis will travel in the

positive direction with
readings started after the
offset. Reduce the travel
with a lower Measuring
periods.
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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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Record Frequency for use in next section

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Open Current Setpoint Filter and use Previous value for Notch Frequency.
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Use this Measuring Function Choice for Next Step
Select the last

function is used to
optimize the Current
Controller P Gain
(p1715) and reset
(p1717) parameters.
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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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Adjust Kp and Tn from the default values

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Notice the Overshoot in the Current Actual

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Adjust current curve to desired value

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Curve example on DEMO drive

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Values used in Last Example Curves - optimized Current Controller settings

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Note Default Value of n (speed) Controller and set Tn to 100ms
Expand the Open-loop

/closed-loop control
below the drive. Double
click the Speed
controller.
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Closed Speed Controller Measuring Function – Time Domain
Select the fifth

function is used to
optimize the Speed
Controller parameters
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Observe Curves for Overshoot or Delay
Starting values for this example:

P gain p1460[0] = 0.100 Nms/rad
Reset time p1462[0] = 100 ms
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Ensure Torque Limits are not exceeded during speed step

response
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Adjust Kp and Tn to desired value

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Adjust Kp and Tn for Desired Results
Speed Controller settings this example:

P gain p1460[0] = 0.200 Nms/rad
Reset time p1462[0] = 50 ms
Speed controller optimized, and torque limit not exceeded

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Closed Speed Controller Measuring Function – Frequency Domain
• This is an optional step to ensure the Kp value derived above does not produce a bode diagram that
raises above the 0db line.
Select the first

function is used to
optimize the Speed
Controller parameters in
the Frequency Domain.
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Measurement of Closed Speed Controller – Bode Diagram – Frequency Domain

Only P- controlled Kp = p1460[0] Nms/rad
Kp=0.04 Nms/rad, Kp=0.1 Nms/rad, Kp=0.2 Nms/rad, Tn =1000 ms

Red: Peak above 0 dB  Controller can start oscillating!
Higher Kp gain increases the band width of the controller

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• Comparison of Time Domain and Frequency Domain

– Kp=0.04 Nms/rad, Kp=0.1 Nms/rad, Kp=0.2 Nms/rad, Tn =1000 ms
Higher Kp gain increases

the band width of the
controller  shorter rise
time (see step response)
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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
Reference model too small fref = 60 Hz

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Closed Position Controller - Axis Position Tuning
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
1. Select the entries as shown above in the Next value column.

2. Switch the expert list to the “System variables” tab.
3. Select the restartactivation entry as “activate_restart”. Click back on the “Configuration data” tab to have the entries
accepted into the Current value. See the next slide for the result.
3
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Step 3: The values from previous slide are now in the current value column
Step 4: Initialize DynamicData with zero values for positionTimeConstant,

torqueTimeConstant, and velocityTimeConstant.
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Step 5: Configure the function generator to the Signal Name: Triangular with a carefully
selected Amplitude and Period
Adjust the Amplitude to limit the travel of the oscillating axis.

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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: Configure a trace with the axis data as shown below.

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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 %
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Step 8: Continue to optimize the performance with adjustments to the Kv value.
Kpc = 100.0 %
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Kpc = 100.0 %
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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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Important parameters for the tuning in Simotion

• Cycle time DP-, Servo- and IPO-cycle time
• DSC needed Telegram 105
• Kv position controller-amplification
• Kpc Pre-control
• FIPO Fine interpolation type
• VelocityTimeConstant (vTc) Symmetry filter time constant (PT1-Glied)
• PositionTimeConstant (pTc) Position extrapolation time

Sinamics S120 Tuning

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Automation and Drives

Engineering-Software SIMOTION SCOUT

Start with the first

The axis will travel in the

Record Frequency for use in next section

Use this Measuring Function Choice for Next Step

Select the last

Adjust Kp and Tn from the default values

Notice the Overshoot in the Current Actual

Adjust current curve to desired value

Curve example on DEMO drive

Values used in Last Example Curves - optimized Current Controller settings

Note Default Value of n (speed) Controller and set Tn to 100ms

Expand the Open-loop

Closed Speed Controller Measuring Function – Time Domain

Select the fifth

Observe Curves for Overshoot or Delay

Starting values for this example:

Ensure Torque Limits are not exceeded during speed step

Adjust Kp and Tn to desired value

Adjust Kp and Tn for Desired Results

Speed Controller settings this example:

Speed controller optimized, and torque limit not exceeded

Closed Speed Controller Measuring Function – Frequency Domain

Select the first

Measurement of Closed Speed Controller – Bode Diagram – Frequency Domain

Kp=0.04 Nms/rad, Kp=0.1 Nms/rad, Kp=0.2 Nms/rad, Tn =1000 ms

Higher Kp gain increases the band width of the controller

• Comparison of Time Domain and Frequency Domain

Higher Kp gain increases

Reference model too small fref = 60 Hz

Closed Position Controller - Axis Position Tuning

1. Select the entries as shown above in the Next value column.

Step 4: Initialize DynamicData with zero values for positionTimeConstant,

Adjust the Amplitude to limit the travel of the oscillating axis.

Step 6: Configure a trace with the axis data as shown below.

Step 8: Continue to optimize the performance with adjustments to the Kv value.

Important parameters for the tuning in Simotion

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