Siemens SINAMICS S120 System Manual page 116

Commissioning
4.18 Fine calibration and tuning
● f
The valve can actively influence all natural frequencies of the drive.
Figure 4-45
The controller is optimized in the following order:
1. D component (derivative component; if required)
2. P component (proportional component)
3. I component (integral component)
The preferred method of optimization uses step functions (step response), where you enter a
velocity setpoint v
The measuring function with noise signals (FFT, PBRS) may be difficult to interpret owing to
non-linearities in the controlled system.
116
>> f f( )
valve cylinder ③
Frequency response of controlled system (f
using a function generator (FG).
set
>> f )
valve cylinder
System Manual, 04/2015, 6SL3097-4BA00-0BP1
Hydraulic Drive