Tuning
9.9 PI/P switching
9.9.4
PI/P switching using acceleration setpoint
When the motor acceleration exceeds the preset acceleration rate (p29143), the speed loop
is switched from PI control to P control.
Parameter settings
Parameter
Value range
p29140
0 to 5
p29143
0 to 30000
p29120[0]
0 to 999999
p29121[0]
0 to 100000
Note
Speed setpoint
For detailed information about speed setpoint, refer to "Configuring speed setpoint
(Page 198)".
Acceleration
For detailed information about acceleration, refer to "Setting fixed position setpoint
(Page 183)" of the internal position control mode.
282
Setting value
Unit
4
-
20 (default)
rev/s
2
0.3 (default)
Nms/rad
15 (default)
ms
Description
Switches PI control to P control using acceleration set-
point.
Acceleration threshold for automatically triggering PI to P
switch.
Speed loop gain 1
Speed loop integral time 1
Operating Instructions, 09/2016, A5E36037884-002
SINAMICS V90, SIMOTICS S-1FL6