Yaskawa SGDH Linear Sigma Series - Manual (Page 340)

10 Adjustments
10.4.4 Proportional Control Operation (Proportional Operation Reference)
10-18
10.4.4 Proportional Control Operation (Proportional Operation Reference)
(1) PI/P Control
If parameter Pn000.1 is set to 0 or 1 as shown below, the /P-CON input signal serves as switch to change between
PI control and P control.
• PI control: Proportional/Integral control
• P control: Proportional control
(2) Proportional Control Reference (/P-CON)
(3) Related Parameter
Parameter Control Mode
Pn000 n.††0† Speed
Control Effective in speed control or position
control.
Input signal /P-CON (CN1-41) is used
to select PI control or P control.
n.††1† Position
Control CN1-41 is OFF
(H level). PI control
CN1-41 is ON
(L level). P control
• When sending references from the host controller to the SERVOPACK, P control mode can be selected from the host
controller for particular operating conditions. This mode switching method can be used to suppress overshooting and
shorten the settling time. Refer to 10.4.5 Using the Mode Switch (P/PI Switching) for more details on inputting the /P-
CON signal and switching the control mode for particular operating conditions.
• If PI control mode is being used and the speed reference has a reference offset, the linear servomotor may move very
slowly and fail to stop even if 0 is specified as the speed reference. In this case, use P control mode to stop the linear ser-
vomotor.
SERVOPACK
/P-CON P/PI
Switching 41
CN1
Type Signal
Name
Connector
Pin Number
Setting Description
Input /P-CON CN1-41 ON (low level) Operates the SERVOPACK with proportional control.
OFF (high level) Operates the SERVOPACK with proportional integral
control.
/P-CON signal selects either the PI (proportional integral) or P (proportional) Speed Control Mode.
Switching to P control reduces linear servomotor movement and minute vibrations due to speed reference input drift.
Input reference: At 0 V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops
when the servomotor is stopped.
Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 8.3.2 Input Circuit
Signal Allocation.
Parameter Function
Pn50A n.†††1 Enables the input signal allocation for the sequence.
Set to allocate the gain switching signal (/P-CON) to an input terminal.