Using The Mode Switch (P/Pi Switching) - YASKAWA E-V Series User Manual

6 Adjustments

6.8.5 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
6.8.5 Using the Mode Switch (P/PI Switching)
Use the mode switch (P/PI switching) function in the following cases:
P Control: Proportional control
PI Control: Proportional/integral control
• To suppress overshooting during acceleration or deceleration (for speed control)
• To suppress undershooting during positioning and reduce the settling time (for position control)
The mode switch function automatically switches the speed control mode between PI control mode and P con-
trol mode based on a comparison between the servo's internal value and a user-set detection level shown in (1)
Related Parameters.
6-56
Contents
Speed control (analog reference)
Position control (pulse train
reference)
Force control (analog reference)
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) Force control (ana-
log reference)
Position control (pulse train refer-
⇔
ence) Speed control
(analog reference)
Position control (pulse train refer-
⇔
ence) Force control
(analog reference)
Force 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
Disabled
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
After restart
Time
Setup