Siemens SINAMICS SIMOTICS S200 PROFINET - Page 782

NOTICE
When speed precontrol is active (p2534 > 0 %), the following applies:
In addition to the se
t dead time (p2535), internally two position controller sampling times are e󹪜ective.
When speed precontrol is inactive (p2534 = 0 %), the following applies:
No dead time is e󹪜ective (p2535 and internal).
Note
Toge
ther with p2536, the time response of the closed speed control loop can be emulated.
p2536[0] LR speed precontrol symmetrizing 󹪝lter PT1
 Data type: FloatingP
oint32 Visible in: Extended display 
Read permission: Read drive data or acknowledge messages
Write permission: Edit device con󹪝gur
ation or driv
e applications
Can be changed in the operating
stat
e:
Operation
Parameter group: Position controller
 Unit: ms
 Min:
0.00 [ms]
Max:
100.00 [ms]
Factory setting:
0.00 [ms]
Description: Sets a PT1 󹪝lter to emulat
e the time response of the closed speed control loop.
Dependency: See also: p2535
NOTICE
When speed precontrol is inactive (p2534 = 0 %), the following applies:
If a PT1 󹪝lt
er has been set, it is no
t e󹪜ective.
Note
Toge
ther with p2535, the time response of the closed speed control loop can be emulated.
p2538[0] LR proportional gain
 Data type: FloatingPoint32 Visible in: S
tandard display 
Read permission: Read drive data or acknowledge messages
Write permission: Edit device con󹪝gur
ation or driv
e applications
Can be changed in the operating
stat
e:
Operation
Parameter group: Position controller
 Unit: 1000 rpm
 Min:
0.000 [1000 rpm]
Max:
300.000 [1000 rpm]
Factory setting:
1.000 [1000 rpm]
Description: Sets the proportional gain (P gain, position loop gain, Kv factor) of the position controller.
Dependency: See also: p2539, r2557, r2558
Note
The propor
tional gain is used de󹪝ne at which traversing velocity which following error is obtained (without precontrol)
Low proportional gain:
Slow response to a setpoint - actual value di󹪜erence, the following error becomes large.
High proportional gain:
Fast response to the setpoint - actual value di󹪜erence, the following error becomes small.
Appendix
A.3Parameters
SINAMICS S200 PROFINET servo drive system with SIMOTICS S-1FL2
780 Operating Instructions, 11/2023, FW V6.3, A5E51646752B AB