Gain Switching Using An External Digital Input Signal (G-Change) - Siemens SINAMICS V90 Operating Instructions Manual

You can select one of the five modes by setting parameter p29130:
Parameter Value
p29130 0 (default) The function of gain switching is disabled.
1
2
3
4
9.8.1

Gain switching using an external digital input signal (G-CHANGE)

DI settings
● Position control mode
● Speed control mode
Parameter settings (p29130 = 1)
Parameter Value range
p29110[0] 0.00 to 300.00
p29110[1] 0.00 to 300.00
p29120[0] 0 to 999999
p29120[1] 0 to 999999
p29121[0] 0 to 100000
p29121[1] 0 to 100000
p29139 8 to 1000
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 09/2015, A5E36037884
Only the first group of gains is valid and the function of PI to P switching of speed controller
is enabled.
Gain switching using digital input signal (G-CHANGE).
When G-CHANGE is 0, the first group of gains is selected; when G-CHANGE is 1, the
second one is selected.
Gain switching using position deviation.
In the position control mode, gain switching can be decided by position deviation. If the
position deviation is less than preset value, the first group of gains is selected; otherwise,
the second one is selected.
Gain switching using position setpoint frequency.
In the position control mode, gain switching can also be decided by position setpoint fre-
quency. If the position setpoint frequency is less than preset value, the first group of gain is
selected; otherwise, the second one is selected.
In the speed control mode, gain switching can be decided by actual speed. If the actual
speed is below preset value; otherwise, the second one is selected.
Signal Setting
G-CHANGE 0
1
Signal Setting
G-CHANGE 0
1
Default value
Motor dependent
1.00
Motor dependent
0.3
15
20
20
Description
The first group of gains is selected.
The second group of gains is selected.
The first group of gains is selected.
The second group of gains is selected.
Unit Description
1000/min Position loop gain 1
1000/min Position loop gain 2
Nms/rad Speed loop gain 1
Nms/rad Speed loop gain 2
ms Speed loop integral time 1
ms Speed loop integral time 2
ms Time constant to smooth the switching between gain sets
9.8 Gain switching
Description
Description
Tuning
265