Omron OMNUC R88D-WT15HF User Manual page 382

Operation
H Parameters Requiring Settings
Parameter Parameter name
No.
Pn10b.0 Speed control
setting
P control switching
condition
Pn10C P control switching
(torque command)
Pn10d P control switching
(speed command)
Pn10E P control switching
(acceleration
command)
Pn10F P control switching
(deviation pulse)
• If the output torque is saturated during acceleration and deceleration, switch to P control using the
internal torque command value or acceleration command value.
• If the output torque is not saturated during acceleration and deceleration, and an overshoot or under-
shoot occurs, switch to P control using the speed command value or deviation pulse value.
H Operation
• Clear the speed overshoot and undershoot by switching to P control.
Overshoot
Servomotor
operation
Operation during PI control
D Switching Using Torque Command
• You can switch to P control when the internal torque command value exceeds the setting in Pn10C to
prevent output torque saturation and cancel speed overshoot and undershoot.
Internal torque com-
mand value
Explanation
Sets the condition for switching the speed loop from PI
control to P control. Use Pn10C to Pn10F to make the
switching level settings.
Set when Pn10b.0 = 0 (switch using internal torque
command value). Set the conditions for switching to P
control using the ratio (%) of the Servomotor rated
torque.
Set when Pn10b.0 = 1 (switch using speed command
value). Set the speed (r/min.) to switch to P control.
Set when Pn10b.0 = 2 (switch using acceleration
command value). Set the acceleration (x 10 r/min. /s)
to switch to P control.
Set when Pn10b.0 = 3 (switch using deviation pulse
value). Set the deviation pulse value (command unit) to
switch to P control.
Undershoot
Chapter 4
Reference
4-4-4
Parameter
Details
Operation using P-con-
trol switching function
Time
4-119