Siemens SINAMICS S200 - Page 306

• Using position setpoint frequency (p29130 = 3)
In t
he fast PTI mode, if the pulse train input is lower than the preset value (p29132), scaling
factor 1 is selected; if the pulse train input is greater than the value, scaling factor 2 is
selected.
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• Gain switching using actual speed (p29130 = 4)
In the S
mode, if the actual speed is less than the preset value (p29133), scaling factor 1 is
selected; if the actual speed is greater than the value, scaling factor 2 is selected.
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Parameters
The following list includes the par
ameters of the "Gain switching" function.
Number Name Unit
p5300[0] Autotuning selection 
p29110[0...1] Position loop gain scaling [%]
p29120[0...1] Speed loop gain scaling [%]
p29121[0...1] Speed loop integral time scaling [%]
p29130 Gain switching mode selection 
p29131 Gain switching condition: Pulse deviation 
p29132 Gain switching condition: Position setpoint frequency 
p29133 Gain switching condition: Actual speed [rpm]
p29139 Gain switching time constant [ms]
Tuning
10.4Gain switching
SINAMICS S200 pulse train servo drive system with SIMOTICS S-1FL2
304 Operating Instructions, 11/2023, FW V6.3, A5E51646767B AA