Tuning
9.8 Gain switching
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2019, A5E36037884-007
333
Parameter
Range
Default
Unit
Description
p29121[0]
0 to 100000
15
ms
Speed loop integral time 1
p29121[1]
0 to 100000
20
ms
Speed loop integral time 2
p29132
0 to
2147000064
100
1000
LU/min
Position setpoint frequency threshold for
automatically triggering gain switching
p29139
8 to 1000
20
ms
Time constant to smooth the switching be-
tween gain sets
Timing diagram
9.8.4
Gain switching using actual speed
Parameter settings (p29130 = 4)
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
p29133
0 to
2147000064
100
rpm
Speed threshold for automatically triggering
gain switching
p29139
8 to 1000
20
ms
Time constant to smooth the switching be-
tween gain sets
