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6.2.4 Setting Speed Bias
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J J Methods for Using Proportional Control
Proportional control can be used in the following two ways.
D When operation is performed by sending speed references from the host controllerto the Ser-
vopack, 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.
D 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.
The settling time for positioning can be reduced by assigning bias to the speed reference block
in the Servopack. To assign bias, use the following constants.
Pn107
Bias
Pn108
Bias Addition
Width
Set the constants to shorten the time required for positioning according to the application.
The bias increment width (Pn108) is expressed by a error pulse width that determine the timing
of giving bias input (Pn107). The bias input is ON if the error pulse width exceeds the value set
in Pn108.
Internal speed reference
Pn107
Error pulse
Unit:
Setting
Range:
r/min
0 to 450
Unit:
Setting
Range:
Reference
units
0 to 250
Bias increment width
Pn108
6 -9
6.2 High-speed Positioning
Factory
Position Control
Setting:
0
Factory
Position Control
Setting:
7
6
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