Gain Switching Using Position Deviation; Gain Switching Using Position Setpoint Frequency - Siemens SINAMICS V90 Operating Instructions Manual

Tuning
9.8 Gain switching
9.8.2

Gain switching using position deviation

Parameter settings (p29130 = 2)
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
p29131 0 to 2147483647 100
p29139 8 to 1000
Timing diagram
9.8.3

Gain switching using position setpoint frequency

Parameter settings (p29130 = 3)
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
244
Default value Unit
Motor dependent 1000/min
1.00 1000/min
Motor dependent Nms/rad
0.3 Nms/rad
15 ms
20 ms
LU
20 ms
Setting value Unit
Motor dependent 1000/min
1.00 1000/min
Motor dependent Nms/rad
0.3 Nms/rad
15 ms
20 ms
Description
Position loop gain 1
Position loop gain 2
Speed loop gain 1
Speed loop gain 2
Speed loop integral time 1
Speed loop integral time 2
Position deviation threshold for automatically triggering
gain switching
Time constant to smooth the switching between gain sets
Description
Position loop gain 1
Position loop gain 2
Speed loop gain 1
Speed loop gain 2
Speed loop integral time 1
Speed loop integral time 2
Operating Instructions, 07/2015, 6SL3298-0AV60-0BP0
SINAMICS V90, SIMOTICS S-1FL6