V90 Speed Control Tuning

Hi

Current Hardware Setup:

CPU:

6ES7 214-1AG40-0XB0

Servo Drive:

6SL3210-5FB10-8UA0

Servo Motor:

1FL6042-2AF21-1AA1

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I have followed the following manuals/guides from the siemens website:

Speed Control of SINAMICS V90 with SIMATIC S7-1200 via PROFINET

SINAMICS V90, SIMOTICS S-1FL6

When I give the servo a move relative command or if I use the jog functions from the V-Assistant Software, I can see the the display speed on the V90 is fluctuating, with about 5 to 6 RPM. This is also verified when I do a trace in V-Assistant or in TIA. 

I have played around with P29120 as well as P29121, as is recommended by the Manuals for the Speed Loop Gains. But I simply can not reduce the amount of fluctuation. The Servo is running about 10% of utilization (V-Assistant shows that), thus its not due to excessive load from what I can tell. 

Thanks

Try to use real time auto tuning, you move the axis the way you need from PLC and at the same time, from V-Assitant, you can activate real time autotuning.

In my case works well. I hope the same for you.