Parker P Series, User Manual, Page: 127 / 316

Parker Hannifin
P Series User Guide 125
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Related Objects
Index
Sub
Index
Name
Variable
Format
Accessibility
PDO
Allocation
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
Table 71. P/PI control Related Objects
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Example of P/PI conversion by torque command
Using PI control at all times without using P/PI conversion during speed control results
in accumulation of the integral term during acceleration/deceleration, which in turn
results in overshoot and longer position determination time. By using appropriate P/PI
conversion mode, you can reduce the determination time. The figure below shows an
example of conversion mode by torque command.
Figure 40. Example of P/PI Conversion
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