Omron OMNUC W Series User Manual page 264

Operation
• Sets the speed control loop switching function from PI control to P control.
• Normally, using the speed loop gain and the position loop gain set by means of the auto-tuning opera-
tion will provide adequate control. (Consequently, there is normally no need to change the setting.)
• When PI control is always being used, switching to P control may help if the Servomotor speed over-
shoots or undershoots (i.e., the effective servo gain is reduced by switching to P control to stabilize the
servo system). The positioning time can also be shortened in this way.
• If the output torque is saturated during acceleration and deceleration, set speed control to 0 (switching
by internal torque command), or 2 (switching by acceleration command).
• If the speed control overshoots or undershoots without the output torque being saturated during accel-
eration and deceleration, set speed control to 1 (switching by speed command), or 3 (switching by
deviation pulse value).
• If the setting is made from 0 to 3 (i.e., if P control switching is used), set the switching condition to
Pn10C to Pn10F.
Note Setting Pn10b.1 (speed control loop switching) to 1 (P control) changes the parameter to switch
from PI control to P control.
Pn10b.1 Speed control setting --- Speed control loop switching (Position, speed, internally-set speed
control)
Setting 0, 1
range
Setting Explanation
Setting
0 PI control
1 P control
• Set the speed control loop to either PI control or P control.
• There is normally no need to change the setting.
• If you cannot shorten positioning time in PI control, change the setting to 1 (P control).
Note Online auto-tuning does not normally operate in P control.
Pn10b.2 Speed control setting --- Not used.
Setting ---
range
Note Do not change the setting.
Pn10b.3 Speed control setting --- Not used.
Setting ---
range
Note Do not change the setting.
Pn10C P control switching (torque command) (Position, speed, internally-set speed control)
Setting 0 to 800
range
• You must set Pn10C if you set Pn10b.0 (P control switching condition) to 0 (switching by internal
torque command).
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Unit ---
Unit ---
Unit ---
Unit %
Default 0
setting
Explanation
Default 0
setting
Default 0
setting
Default 200
setting
Chapter 4
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power?
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power?
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power?