P/Pi Control Conversion; Table 69. Gain Conversion Related Objects - Parker P Series User Manual

Speed loop integral time
constant 1(x2103)
Torque command filter time
constant 1(0x2104)

Related Objects
Sub
Index
Index
0x2119 - Gain Conversion Mode
0x211A - Gain Conversion Time 1
0x211B - Gain Conversion Time 2
0x211C - Gain Conversion Waiting Time 1
0x211D - Gain Conversion Waiting Time 2

Table 69. Gain Conversion Related Objects

5.9.2 P/PI Control Conversion

PI control uses both proportion (P) gain and integral (I) gain of the speed controller.
P control refers to control using only proportion gain.
Proportion gain determines the response of the overall controller, and the integral
gain is used to remove the error of the steady state. Excessive integral gain leads to
overshoot during acceleration/deceleration.
Parker Hannifin
time1(0x211C)
Gain conversion time
2(0x211B)
Gain conversion waiting
time2(0x211D)
Variable
Name
Format
UINT
UINT
UINT
UINT
UINT
Speed loop integral time
constant 2(x2107)
Torque command filter time
constant 2(0x2108)
PDO
Accessibility
Allocation
RW Yes
RW Yes
RW Yes
RW Yes
RW Yes
P series User Guide
Unit
-
ms
ms
ms
ms
110