Siemens SINAMICS S200 - Page 309

• Using acceleration setpoint (p29140 = 4)
When the
motor acceleration is greater than the preset value (p29143), P control is selected;
when the motor acceleration is less than the value, PI control is selected.
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• Using pulse deviation (p29140 = 5)
When the pulse deviation is gr
eater than the preset value (p29144), P control is selected;
whent the pulse deviation is less than the value, PI control is selected.
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More information
For more information about the f
ollowing settings, see corresponding sections:
• Speed setpoint: Speed setpoint (Page261)
• Torque setpoint: Torque setpoint (Page273)
Parameters
The following list includes the parameters of the "PI/P switching" function.
Number Name Unit
p5300[0] Autotuning selection 
p29130 Gain switching mode selection 
p29140 PI/P switching mode selection 
p29141 PI/P switching condition: Torque [%]
p29142 PI/P switching condition: Actual speed [rpm]
Tuning
10.5PI/P switching
SINAMICS S200 pulse train servo drive system with SIMOTICS S-1FL2
Operating Instructions, 11/2023, FW V6.3, A5E51646767B AA 307