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Sigma II User's Manual
Pn000.1
Setting
Speed
0
Control
Position
1
Control
n
Methods for Using Proportional Control
Proportional control can be used in the following two ways.
•
When operation is performed by sending speed references from the host control-
ler to the servo amplifier, the host controller can selectively use P control mode
for particular conditions only. This method can suppress overshooting and
shorten setting time. Refer to 6.2.5 Using Mode Switch for particular conditions.
•
If PI control mode is used when the speed reference has a reference offset, the
motor may rotate at a very slow speed and fail to stop even if 0 is specified as a
speed reference. In this case, use P control mode to stop the motor.
6.2.4
Setting Speed Bias
The settling time for positioning can be reduced by assigning bias to the speed refer-
ence block in the servo amplifier. To assign bias, use the following constants.
Parameter
Pn107
Bias
Pn108
Bias Addition Width
Set the parameters to shorten the time required for positioning according to the
application.
The bias increment width (Pn108) is expressed as an error pulse width that deter-
mines the time in which bias input (Pn107) takes effect. The bias input is ON if the
error pulse width exceeds the value set in Pn108.
Usual speed control or position con-
trol is selected.
Input signal /P-CON (CN1-41) is used
to select PI control or P control.
CN1-41
PI control
is open.
CN1-41
P control
is 0V
Signal
Setting Range: 0 to 450
Default Setting: 0
Setting Range: 0 to 250
Default Setting: 7
Internal speed reference
Pn107
Control Mode
P or PI
control
selection
Setting
rpm
rpm
Error pulse
Bias increment width
Pn108
6-10
Chapter 6: Servo Adjustment
Servo amplifier
/P-CON
CN1-41
Application
Position Control
Position Control
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