Siemens SINAMICS V90 User Manual

Tuning
9.8 Gain switching
SINAMICS V90, SIMOTICS S-1FL6
332 Operating Instructions, 04/2019, A5E36037884-007
9.8.2
Gain switching using position deviation
Parameter settings (p29130 = 2)
Parameter
Range
Default
Unit
Description
p29110[0] 0.00 to
300.00
Motor de-
pendent
1000/mi
n
Position loop gain 1
p29110[1] 0.00 to
300.00
1.00 1000/mi
n
Position loop gain 2
p29120[0] 0 to 999999 Motor de-
pendent
Nms/rad Speed loop gain 1
p29120[1]
0 to 999999
0.3
Nms/rad
Speed loop gain 2
p29121[0]
0 to 100000
15
ms
Speed loop integral time 1
p29121[1]
0 to 100000
20
ms
Speed loop integral time 2
p29131 0 to
2147483647
100 LU Position deviation threshold for automatically
triggering gain switching
p29139 8 to 1000 20 ms Time constant to smooth the switching be-
tween gain sets
Timing diagram
9.8.3
Gain switching using position setpoint frequency
Parameter settings (p29130 = 3)
Parameter
Range
Default
Unit
Description
p29110[0] 0.00 to
300.00
Motor de-
pendent
1000/mi
n
Position loop gain 1
p29110[1] 0.00 to
300.00
1.00 1000/mi
n
Position loop gain 2
p29120[0] 0 to 999999 Motor de-
pendent
Nms/rad Speed loop gain 1
p29120[1]
0 to 999999
0.3
Nms/rad
Speed loop gain 2

Siemens SINAMICS V90 Specifications

General

Power Range	0.05 kW to 7.0 kW
Protection Class	IP20
Communication	USS/Modbus RTU
Feedback	Incremental encoder
Input Voltage	1AC 200 V to 240 V, 3AC 380 V to 480 V
Control Modes	Position, Speed, Torque
Operating Temperature	0 °C to +40°C
Storage Temperature	-40°C to +70°C
Relative Humidity	5% to 95% (non-condensing)
Altitude	Up to 1000 m above sea level