Siemens SINAMICS G120D Original Instructions Manual page 161

6. Following controller optimization, set the precontrol of the position controller to 100%.
7. Check the controller characteristics again.
You have optimized the position controller.
Parameter
p2534
p2538
p2539
p2731
Advanced settings
If you permanently activate the integral time of the position controller, the characteristics of
the position control change as follows:
● The following error while positioning goes to zero.
● When positioning the axis, it tends to overshoot; this means that the axis briefly moves
Converter with control units CU250D-2
Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA
Meaning
Speed precontrol factor
Proportional gain / Kp
Integral time / Tn
Signal = 0: activate position controller
beyond the target position.
8.6 Basic positioner and position control
Setting functions
161