Optimization Position Controller

Brief instruction to optimize a position controller

 General Notes

Optimization Position Controller

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We reserve the right to make technical changes to this product.

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General Notes

The Application Examples are not binding and do not claim to be complete
Note
regarding the circuits shown, equipping, and any eventuality. The Application
Examples do not represent customer-specific solutions. They are only intended
to pro-vide support for typical applications. You are responsible in ensuring that
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Qualified personnel
In the sense of this documentation qualified personnel are those who are
knowledgeable and qualified to mount/install, commission, operate and
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service/maintain the products which are to be used. He or she must have

the appropriate qualifications to carry-out these activities
e.g.:
• Trained and authorized to energize and de-energize, ground and tag
circuits and equipment according to applicable safety standards.
• Trained or instructed according to the latest safety standards in the care
and use of the appropriate safety equipment.
• Trained in rendering first aid.
There is no explicit warning information in this documentation. However,
reference is made to warning information and instructions in the Operating
Instructions for the particular product.

Reference regarding export codes

AL: N
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ECCN: N

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 Table of Contents

Optimization Position Controller

Table of Contents
1 Question .......................................................................................................... 6
2 Solution ........................................................................................................... 6
2.1 Requirements ................................................................................................... 6
2.2 Instructions (with activated DSC)...................................................................... 6
2.2.1 Specification of the application ......................................................................... 6
2.2.2 Configuration of the measuring functions ......................................................... 7
2.2.3 Setting of the trace............................................................................................ 7
2.2.4 Detection of the position controller amplifier Kv (optimization to zero following
errors)........................................................................................................... 8
Appendix ..................................................................................................................... 10
3 Revision......................................................................................................... 10
Copyright © Siemens AG 2008 All rights reserved

4 Literature/references .................................................................................... 10
5 Contact partners ........................................................................................... 11

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1 Question
How can you optimize manually the position controller of a SIMOTION
axis?
This FAQ gives you support in form of short instructions.
Please consider: You can find fundamental information on the settings of a
positioning axis with position control in the manual
axis_technology_functions.pdf in chapter 2.11 and 2.12. Please consider
also the possibility of automatic controller setting as well as the SIMOTION
measuring function, which is also described in the same manual in chapter
3.5 and 3.6.

2 Solution
2.1 Requirements
Copyright © Siemens AG 2008 All rights reserved

Before you can begin to optimize the position controller of a SIMOTION

axis, the following requirements have to be met:
1. Speed controller (SINAMICS) has already been optimized (Kp, Tn,
ev. set rotational speed filter and set current filter)
2. Equidistant drive operation
3. Activate DSC
4. Activate pre-control and select weighting with 100%
5. balanceFilterMode = set Mode_2
6. vTc und pTc = 0s
7. Check standardization between drive, SIMOTION and encoder; in
SINAMICS, this is P2000 (nominalSpeed) and P1082 (maxSpeed).
Set the value speedReference to NOMINAL_VALUE.
8. Test: Define set speed value and compare it with the actual speed
value of the drive: In case of a constant travel, set speed and actual
speed have to be the same.

2.2 Instructions (with activated DSC)

2.2.1 Specification of the application

To achieve the best results, the definitions of the application have to be

known: dynamic, stability, precision.
The following setting leads to a following error 0 with D = 0.7, which means
a unique overshoot in the position control loop.

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2.2.2 Configuration of the measuring functions

The measuring functions can be called with the following button:

Please select: ramp position controller without pre-control and filter

Example of the setting (set speed step about 5% nmax ):

Acceptance: maxVelocity = 500mm/s, then amplitude and offset = 25mm/s,
attention: amplitude is added to offset! An offset is selected to avoid friction
effects in case of a zero rotational speed.
• Measuring time = 400 ms
• Ramp-up time = 10 ms
Copyright © Siemens AG 2008 All rights reserved

2.2.3 Setting of the trace

The trace signals are automatically set with the measuring function.
You can even now add the variable
servodata.symmetricservocommandvelocity.

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2.2.4 Detection of the position controller amplifier Kv (optimization to zero

following errors)

Procedure: activate measuring functions and the optimize them, i.e. detect
highest Kv without overshoot. The following screenshots show three cases:
• Kv too low, see trace 2
• Kv too high, see trace 3
• Kv optimized, mark (in the example Kv = 120), see trace 4

The following values were recorded in the following diagrams:

• Actual velocity value
• Effective set velocity value behind the balancing filter
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Figure 2: Trace 2) Kv = 80 Kv too low, not dynamic

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Figure 3: Trace 3) Kv = 200 Kv too high; occurrence of overshoots

Figure 4: Trace 4) Kv = 120 Kv optimized; highest Kv without overshoot

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Appendix

3 Revision
Table 3-1: Revision/Authors
Version Date/Revision
1.0 22.08.08

4 Literature/references
Literature/references
This list is in no way complete and only reflects a selection of suitable
literature.
Copyright © Siemens AG 2008 All rights reserved

Table 4-1
Subject Title
/1/ SIMOTION Manual SIMOTION D4x5 chapter 7.13.5 page 209
/2/

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5 Contact partners
Application Center

SIEMENS
Siemens AG
Industry Sector
I DT MC
Frauenauracher Str. 80
D-91056 Erlangen
Fax: +49-9131-98-1297
mailto: [email protected]
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