6 Adjustment
123 SD780 Series Servo Technical Manual
The signal is not configured in the factory default digital configuration. Therefore, the pin number
configuration (0x05) needs to be performed by parameters Pn601
～
Pn609.
b)
The wiring of manual PI-P control
The gain switching signal is a general configurable digital input. See “Sequence Input Circuit” for
wiring details.
(2)
Automatic switching
The switching condition of automatic PI-P switching is set by Pn131, and the switching condition
value is set by Pn132, Pn133, Pn134, and Pn135. By properly setting the switching conditions and
condition values, overshoot during acceleration and deceleration can be suppressed and the
settling time can be shortened.
Function
code
Parameter
Range
Default
Unit
Communication
address
When
enabled
Pn131
Speed loop PI-P
switching
condition
selection switch
0x00
～
0x04
0
－
0x0131
Immediately
The mode switch is a function that automatically performs P control and PI control
switching. Setting the switching condition by this parameter and satisfying the
corresponding switching condition value can suppress overshoot during acceleration and
deceleration and shorten the settling time.
0 - Conditioned by internal torque command.
1 - Conditioned by speed command.
2 - Conditioned by acceleration.
3 - Conditioned by position deviation pulse.
4 - No mode switch function.
Pn132
Speed loop PI-P
switching
condition (torque
command)
0
～
800
200
%
0x0132
Immediately
When the torque command exceeds the torque set by this parameter, the speed loop will be
switched to P control, otherwise to PI control.
Pn133
Speed loop PI-P
switching
condition (speed
command)
0
～
10000
0
rpm
0x0133
Immediately
When the speed command exceeds the speed set by this parameter, the speed loop will be
switched to P control, otherwise to PI control.
Overshoot
Feedback
Command
Settling Time
Overshoot
Time
Time
Speed
Speed
Settling time
