Siemens Sinamics S110 Function Manual page 151

Example of speed setpoint step change
A rectangular step change can be applied to the speed setpoint via the speed setpoint step
change measuring function. The measuring function has preselected the measurement for
the speed setpoint and the torque-generating current.
Figure 7-17
Parameter overview
See "Speed controller".
Function Manual
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
Setting the proportional gain Kp
Drive functions
7.1 Servo control
149