Tuning
9.9 PI/P switching
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2019, A5E36037884-007
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using speed setpoint
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using acceleration setpoint
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using pulse deviation
You can select one of the switching modes by setting parameter p29140:
Parameter
Value
Description
p29140
0 (default) Disabled.
1
Torque is higher than a parameterizable setting value.
2
Using the digital input signal (G-CHANGE)
3
Speed is higher than a parameterizable setting value.
4
Acceleration is higher than a parameterizable setting value.
5
Pulse deviation is higher than a parameterizable setting value.
Example
Without the function of PI/P switching
With the function of PI/P switching
Example 1: If the PI/P switching is not used, the speed of the motor may overshoot or undershoot due to torque saturation
during acceleration or deceleration. The mode switching function suppresses torque saturation and eliminates the over-
shooting or undershooting of the motor speed.
Example 2: The function of PI/P switching can be used to suppress overshooting and undershooting when speed loop gain
is increased
