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There is one configuration parameter in $FEDORA_HOME/server/config/fedora.fcfg that controls PID assignment:

pidNamespace – The default namespace for objects that don't specify a PID. A unique PID in this namespace will automatically be assigned by Fedora as needed. If the PID is specified, any valid namespace can be chosen. Allowed patterns for namespaces are:

can be from 1 to 17 characters
may only contain A-Z, a-z, 0-9, '.', or '-' (dash)

All ingested objects' specified PIDs will be retained. A PID will only be auto-generated if the ingested object does not specify one.