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Sigma II User's Manual
Error Pulse Used as a Detection Point
This setting is enabled for position control operation only.
If an error pulse exceeds the value set in parameter Pn10F, the speed loop switches to
P control.
Operating Example
In this example, the mode switch is used to reduce setting time. Generally, speed
loop gain must be increased to reduce setting time. Using the mode switch sup-
presses the occurrence of overshoot and undershoot when speed loop gain is
increased.
Without mode switch
Speed reference
Motor
speed
Long setting time
6.2.6
Speed Feedback Compensation
Use this function to shorten the system's setting time in positioning operation.
Error counter
output
Reference
Speed
Deviation
Pulse
Pn10F
PI control
Motor speed
Increase speed loop gain.
With mode switch function
Motor
speed
Setting time
Integral control
(Pn101)
+
Position loop gain
Speed loop gain
(Pn102)
(Pn100)
-
Speed feedback
filter (Pn308)
Motor speed
Time
P control
PI control
Without mode switch
Motor
speed
+
+
Torque reference
filter (Pn401)
Speed feedback com
pensation (Pn111)
6-14
Chapter 6: Servo Adjustment
Overshoot
Under
shooting
Time
Suppress overshoot
and undershoot
Torque reference
Speed feedback
Speed feedback com
pensation function
selection (Pn110.1)
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