Tuning of V90 Servo Motor

Hi All

Quick Hardware,Setup,Application Summary

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Hardware:

V90 Sero Drive: 6SL3210-5FB10-4UA1

V90 Servo Motor:1FL6034-2AF21-1AA1

Encoder Cable: 6FX3002-2CT20-1AF0

Motor Power Cable: 6FX3002-5CK01-1AF0

V90 Setpoint Signal Cable: 6SL3260-4NA00-1VA5

PLC: SIemens 1214C

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Setup:

Siemens 1214C CPU controls the servo motor with PTI/Fast PTI Control for position

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Application:

The servo is used as a rewind motor for a labelling machine. It works in with a fork sensor to control the stop point after a label has been dispensed.

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Software Used:

Siemens TIA Portal V15.1

Sinamics V-Assistant V1.07.00

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Problem/Question:

I have used the one button auto tuning function from V-Assistant with the help of the V90 online assistant pdf, Page108.

https://support.industry.siemens.com/cs/ww/en/view/109762408

I played around a bit with the dynamic factor to try and get the p29022 as stable as possible, but the online assistant pdf only tells me to keep tuning the motor until I get a stable value for p29022, it does not mention how close the values must be. Please find attached word document of my tuning results using the same tuning parameters, As you can see the values are jumping around, but if it is to much or acceptable is not clear in the document.

TLDR for p29022 for the 5 tests:

1. 122.4279

2. 124.6886

3. 155.0000

4. 141.7287 

5. 111.6896

Can someone please assist me on the basics of tuning a V90 servo motor and the do' and dont's with regards to tuning.

Regards

Hi,

did you try real time autotnuning?

RT auto tuning

You can decide the stiffness (dynamic factors) of the axis by simply select a number, then choose options such as:

1. estimate intertia ratio;
2. see attached pic
3. ...

You just turn it on from V-Assitant, then move your axis. It'll calculate during runtime, autonomously.

Hope it helps,

 Hi

I followed the video, but in my application the control is bad when using real time tuning. The servo motor overshoots the target setpoint position. And it does not get better the more I stop/start the servo motor.

And with one button tuning, I am getting test signal alarms (f7093), which is extremely frustrating, because it does not really describe how to fix the problem. I think I might need to invest in a proper siemens servo course, because using the one-button and real time tuning functions, does not really teach me how fix the tuning issue if those functions cant get the control correct.

Thanks for the information though :)

Regards

BoletusEdulis

Hi,

did you try real time autotnuning?

RT auto tuning

You can decide the stiffness (dynamic factors) of the axis by simply select a number, then choose options such as:

1. estimate intertia ratio;
2. see attached pic
3. ...

You just turn it on from V-Assitant, then move your axis. It'll calculate during runtime, autonomously.

Hope it helps,

You are welcome.

Sure the servo course will definitely help you out.

You can make sure these, as well:

1. are you using IPOS or TO?
2. are you using correct conversion values in the mechanical properties of the axis? If you move the axis 100mm, does it really move 100mm?
3. is it hoist application?
4. do you have an esteem of the inertia ratio between load and motor?
5. did you try RT autotuning detailed options? Such as inertia estimator...

BoletusEdulis

1. do you have an esteem of the inertia ratio between load and motor?

This is what one should start with. 

 Hi

I will be posting some diagrams and video(s) soon of the application, and answer the points below.

Regards

BoletusEdulis

You are welcome.

Sure the servo course will definitely help you out.

You can make sure these, as well:

1. are you using IPOS or TO?
2. are you using correct conversion values in the mechanical properties of the axis? If you move the axis 100mm, does it really move 100mm?
3. is it hoist application?
4. do you have an esteem of the inertia ratio between load and motor?
5. did you try RT autotuning detailed options? Such as inertia estimator...