Hello everyone ^_^

I'm using 3 1FL6 low inertia sevo motors for my delta picker robot project, and I'm no trying to tune manually the regulator parameters of their 3 V90 SINAMICS PN servo drives.

Refering to the SINAMICS V90, SIMOTICS 1FL6 datasheet I figured out that the 1FL6 servo motors are permanent-magnet synchronous motors, so I wanted to ask did anyone of you try to find the mathematical equations that govern these servo motors in order to use them to elaborate the bloc diagram of the whole V90-1FL6 servo system and to find manually the correct parameters that can tune my robot behaviour?

Thanks a lot for your precious attention ^_^

In fact, I can't use the One-Button autotuning because the pre-conditions mentionned in the V90 Tuning manual can't be satisfied in my Delta picker robot project, because the servo motors are not allowed to rotate a complete revolution, otherwise the delta robot arms will be damaged.

I've tried the real time autotuning, the result was acceptable but I wanted to try the manual tuning to compare the results.

Hi,

I understand the problem.

To be honest I don't think you will get any formula or reference model parameters here within the forum. So the only thing you can do is to trace speed setpoint and actual value, give speed jumps and see the response in the trace and then manually adjust the controller until you are satisfied with the response of the actual value.

You could do it this way to optimize the speed controller:

- deactivate the Kv of position control (so that you don't have the influence of that)

- put very high integral time to the speed controller (to make the influence of integral part very low)

- change the gain factor until the point where the actual value overshoots your setpoint by around 4%

- then change the integral time until you have around 40-50% overshoot -> this would be the symmetrical optimum then

- afterwards do not forget to activate the Kv of the position controller again

Thanks a lot Sir for your precious and clear answer ^_^ that was really helpful for me