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EXAMPLE
A
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AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr
Setting
Selection
0
Uses torque reference as the
detection point. (Standard set-
ting)
1
Uses speed reference input as
the detection point.
2
Uses acceleration as the detec-
tion point.
3
Uses error pulse input as the
detection point.
4
Mode switch function is not
used.
Torque Reference Input Used as Detection Point
(Standard Setting)
With this setting, if the value of torque reference input exceeds the torque set in user constant
Pn10C, the speed loop switches to P control.
The Servopack is factory-set to this standard mode (Pn10C = 200).
Reference speed
Speed
Internal torque reference
+Pn10C
Torque 0
- -Pn10C
PI control
PI control
P control
Operating Example
If the system is always in PI control without using the mode switch function, the speed of
the motor may overshoot or undershoot due to torque saturation at the time of the accelera-
tionordecelerationofthe motor. The mode switchfunction suppressestorque saturationand
eliminates the overshooting or undershooting of the speed of the motor.
No mode switch function
Overshooting
Motor
speed
Under-
shooting
Time
Speed Reference Used as Detection Point
With this setting, if a speed reference exceeds the value set in user constant Pn10D, the
speed loop switches to P control.
User Constant to
Set Detective
Point
Pn10C
Pn10D
Pn10E
Pn10F
- -
Motor speed
PI control
P control
6 -11
6.2 High-speed Positioning
Set Unit
Percentage of rated torque:
%
Motor speed: r/min
Motor acceleration:
10 (r/min)/s
Reference unit
- -
With mode switch function
Motor
speed
Time
6
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