Using The Mode Switch (P/Pi Switching) - YASKAWA SGMJV User Manual

6 Adjustments

6.9.5 Using the Mode Switch (P/PI Switching)

(2) Related Parameters
Proportional control operation is enabled when the control mode is set to speed or position control.
Parameter
n. 0
n. 1
n. 2
n. 3
n. 4
n. 5
n. 6
Pn000
n. 7
n. 8
n. 9
n. A
n. B
∗1. When switching to speed control, the /P-CON signal does not have to be allocated.
∗2. When switching to position control, the /P-CON signal does not have to be allocated.

6.9.5 Using the Mode Switch (P/PI Switching)

Use the mode switch (P/PI switching) function in the following cases:
• To suppress overshooting during acceleration or deceleration (for speed control)
• To suppress undershooting during positioning and reduce the settling time (for position control)
P Control: Proportional control
PI Control: Proportional/integral control
The mode switch changes the speed-control mode to PI control or P control in accordance with the setting of
Pn10B.0.
6-68
Contents
Speed control (analog reference)
Position control (pulse train
reference)
Torque control (analog reference) Disabled
Internal set speed control (contact
reference)
Internal set speed control (contact
⇔
reference) Speed control
(analog reference)
Internal set speed control (contact
⇔
reference) Position control
(pulse train reference)
Internal set speed control (contact
⇔
reference) Torque control
(analog reference)
Position control (pulse train refer-
⇔
ence) Speed control
(analog reference)
Position control (pulse train refer-
⇔
ence) Torque control
(analog reference)
Torque control (analog refer-
⇔
ence) Speed control
(analog reference)
Speed control (analog refer-
⇔
ence) Zero clamp
Position control (pulse train refer-
⇔
ence) Position control (inhibit)
Speed
Proportional
Control /P-CON Signal
Enabled/ Allocation
Disabled
Enabled Not required
Enabled Not required
Enabled Required
Enabled
Required
Enabled
Required
Enabled Required
Enabled Required
Enabled Required
Enabled Required
Enabled Required
Enabled Required
Overshoot
Actual servomotor operation
Reference
Undershoot
Settling time
When Enabled Classification
*1
*2
After restart
Time
Setup