LSIS XDL-L7NH Series, User Manual, Page: 140 / 348

5. Drive Application Functions
5-32
 Related Objects
Index
Sub
Index
Name
Variable
type
Accessibility
PDO
assignment
Unit
0x2114 - P/PI Control Conversion Mode UINT RW Yes -
0x2115 - P Control Switch Torque UINT RW Yes 0.1%
0x2116 - P Control Switch Speed UINT RW Yes rpm
0x2117 - P Control Switch Acceleration UINT RW Yes rpm/s
0x2118 - P Control Switch Following Error UINT RW Yes pulse
 Example of P/PI Switching by Torque Command
When always using the PI Control rather than P/PI control switching for speed control, the integral term
of acceleration/deceleration error is accumulated, resulting in an overshoot and an extended
positioning time. At this moment, you can reduce the overshoot and the positioning time using an
appropriate P/PI switching mode. The figure below shows an example of switching mode by torque
command:
Torque
Command
Overshoot
Overshoot
Speed
Speed
Time Time
Time
Speed
When using PI/P
control switching
When using P control
P control
P control P control
P control
P control
Positioning
time Positioning
time