Siemens SINAMICS G120 List Manual page 395

Notice: When speed precontrol is active (p2534 > 0 %), the following applies:
In addition to the set dead time (p2535), internally two position controller clock cycles are effective.
When speed precontrol is inactive (p2534 = 0 %), the following applies:
No dead time is effective (p2535 and internal).
Note: Together with p2536, the timing behavior of the closed-loop control loop can be emulated.
p2536[0...n] LR speed precontrol symmetrizing filter PT1 / n_prectrl filt PT1
CU250S_V (Position Access level: 1
control)
Can be changed: U, T
CU250S_V_CAN
Unit group: -
(Position control)
Min
CU250S_V_DP
0.00 [ms]
(Position control)
CU250S_V_PN
(Position control)
Description: Sets a PT1 filter to emulate the timing behavior of the closed-speed control loop.
Dependency: Refer to: p2535
Notice: When speed precontrol is inactive (p2534 = 0 %), the following applies:
If a PT1 filter has been set, it is not effective.
Note: Together with p2535, the timing behavior of the closed-loop control loop can be emulated.
p2537 CI: LR position controller adaptation / Adaptation
CU250S_V (Position Access level: 1
control)
Can be changed: T
CU250S_V_CAN
Unit group: -
(Position control)
Min
CU250S_V_DP
-
(Position control)
CU250S_V_PN
(Position control)
Description: Sets the signal source for the adaptation of the proportional gain of the position controller.
Dependency: Refer to: p2538
p2538[0...n] LR proportional gain / Kp
CU250S_V (Position Access level: 1
control)
Can be changed: U, T
CU250S_V_CAN
Unit group: -
(Position control)
Min
CU250S_V_DP
0.000 [1000 rpm]
(Position control)
CU250S_V_PN
(Position control)
Description: Sets the proportional gain (P gain, position loop gain, Kv factor) of the position controller.
Dependency: Refer to: p2537, p2539, p2555, r2557, r2558
Note: The proportional gain is used define at which traversing velocity which following error is obtained (without precontrol)
Low proportional gain:
Slow response to a setpoint - actual value difference, the following error becomes large.
High proportional gain:
Fast response to the setpoint - actual value difference, the following error becomes small.
SINAMICS G120 CU250S-2 Control Units
List Manual, 09/2017, A5E33842890
Calculated: -
Scaling: -
Unit selection: -
Max
100.00 [ms]
Calculated: -
Scaling: PERCENT
Unit selection: -
Max
-
Calculated: -
Scaling: -
Unit selection: -
Max
300.000 [1000 rpm]
2 Parameters
2.2 List of parameters
Data type: FloatingPoint32
Dyn. index: DDS, p0180
Func. diagram: 4015
Factory setting
0.00 [ms]
Data type: U32 / FloatingPoint32
Dyn. index: -
Func. diagram: 4015
Factory setting
1
Data type: FloatingPoint32
Dyn. index: DDS, p0180
Func. diagram: 4015
Factory setting
1.000 [1000 rpm]
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