Tuning
9.8 Gain switching
SINAMICS V90, SIMOTICS S-1FL6
332
Operating Instructions, 04/2019, A5E36037884-007
9.8.2
Gain switching using position deviation
Parameter settings (p29130 = 2)
Parameter
Range
Default
Unit
Description
p29110[0]
0.00 to
300.00
Motor de-
pendent
1000/mi
n
Position loop gain 1
p29110[1]
0.00 to
300.00
1.00
1000/mi
n
Position loop gain 2
p29120[0]
0 to 999999
Motor de-
pendent
Nms/rad Speed loop gain 1
p29120[1]
0 to 999999
0.3
Nms/rad Speed loop gain 2
p29121[0]
0 to 100000
15
ms
Speed loop integral time 1
p29121[1]
0 to 100000
20
ms
Speed loop integral time 2
p29131
0 to
2147483647
100
LU
Position deviation threshold for automatically
triggering gain switching
p29139
8 to 1000
20
ms
Time constant to smooth the switching be-
tween gain sets
Timing diagram
9.8.3
Gain switching using position setpoint frequency
Parameter settings (p29130 = 3)
Parameter
Range
Default
Unit
Description
p29110[0]
0.00 to
300.00
Motor de-
pendent
1000/mi
n
Position loop gain 1
p29110[1]
0.00 to
300.00
1.00
1000/mi
n
Position loop gain 2
p29120[0]
0 to 999999
Motor de-
pendent
Nms/rad Speed loop gain 1
p29120[1]
0 to 999999
0.3
Nms/rad Speed loop gain 2
