Simotion Optimization

Hello,

please check the requirements.

4.6.3 Automatic position controller setting (as of V4.1 SP1)

https://support.industry.siemens.com/cs/ww/en/view/109757317

Requirements and boundary conditions

In addition to the General requirements (Page 242) for the automatic controller setting, the

following requirements/boundary conditions apply:

● DSC or DSC with spline is required for the position controller setting.

–You use a telegram that supports DSC (telegram 5, 6, 105, 106, 125 or 126)

–If you have selected a telegram which does not support DSC, you must select one of

the telegrams mentioned above instead.

As various presettings are required for DSC that can only be set when running through

the axis wizard the first time, you have to make these settings manually:

- Static controller data: Precontrol with weighting factor 100%

(NumberOfDataSets.DataSet_1.ControllerStruct.PV_Controller.preCon = YES and

NumberOfDataSets.DataSet_1.ControllerStruct.PV_Controller.kpc = 100%)

- Static controller data: Symmetry filter (extended symmetry filter active)

(NumberOfDataSets.DataSet_1.ControllerStruct.PV_Controller.balanceFilterMode =

MODE_2)

- Static controller data: Fine interpolator (acceleration continuous interpolation)

(FineInterpolator._type = CUBIC_MODE)

- Dynamic controller data: Speed control loop 0.0 equivalent time and position control

loop 0.0 equivalent time

(NumberOfDataSets.DataSet_1.DynamicData.positionTimeConstant = 0.0 and

NumberOfDataSets.DataSet_1.DynamicData.velocityTimeConstant = 0.0)

● The speed controller has been set previously (e.g. with the automatic speed controller

setting).

● At least one axis is connected to the SINAMICS drive (servo).

● The actual values and the manipulated variables between the controller and the drive have

been correctly scaled by the user. No validation is performed.

Match the configurations of the SIMOTION controller with the drive, for example, using the

"Transfer data from the drive" button in the axis wizard.

The following parameters in the drive are used for SINAMICS:

P2000: Normalization speed

P1082: Maximum speed

See also Coupling of digital drives (Page 58).

● An online connection to the SIMOTION device must exist for the result of the automatic

position controller to be transferred.

● The balancing filter is not changed.

● For operation without precontrol, the equivalent time constant of the position controller must

be adjusted manually by the user (PostionTimeConstant = 1/Kv).

● Vibration on the load side is not taken into account for the position controller setting.

Procedure

Perform the following steps for the automatic setting of the position controller:

1. Open the Automatic Controller Setting screen form

2. Select the drive unit and drive (axis)

3. Specify the "Position controller (DSC)" controller preselection

4. Assume control priority

Configuring an axis

4.6 Automatic controller setting

TO