Gain Switching - Siemens SINAMICS S200 Operating Instructions Manual

Pulse train servo drive system

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10.4 Gain switching

Gain switching

The function of gain switching is used to switch between two sets of scaling factors.

With the gain switching function, you can implement the following operations:

• Increase the gains during servo lock and decrease gains to reduce noise during rotation.

• Increase the gains during settling to shorten the stop settling time.

• Ensure the stability of the servo system when the load inertia moment ratio varies greatly

during a stop.

Set the scaling factors according to the following formulas to obtain expected servo gains:

• Position loop gain = p29178*p29110 (fast PTI mode)

• Speed loop gain = p1460*p29120

• Speed loop integral time = p1462/p29121

• Do not use the function in the torque control mode.

• Disable the functions of autotuning.

Description of function

The function of gain switching is disabled by default (p29130 = 0), and only scaling factor 1 is

valid in this case.

SINAMICS S200 pulse train servo drive system with SIMOTICS S-1FL2

Operating Instructions, 11/2023, FW V6.3, A5E51646767B AA