LS ELECTRIC L7NHF Series, Руководство пользователя

Страница: 144 / 409

5. Drive Application Functions
5-36
5.10.2
P/PI Control Switch
PI control uses both proportional (P) and integral (I) gains of the velocity controller, while P control uses
only the proportional gain.
The proportional gain determines the responsiveness of the entire controller, and the integral gain is
used to eliminate errors in the steady state. Too high of an integral gain will result in an overshoot
during acceleration or deceleration.
The PI/P control switch function is used to switch between the PI and P controls under the condition of
the parameters within the servo (torque, velocity, acceleration, position deviation); specifically, they are
used in the following situations.
Velocity control: To suppress any overshoot or undershoot during acceleration/deceleration
Position control: To suppress undershoots during positioning in order to reduce the positioning time
You can accomplish similar effects by setting acceleration/deceleration of the upper level controller, soft
start of the servo drive, position command filter, etc.
Speed
Time
Motor Speed
Speed
Command
Positioning
Time
Undershoot
Overshoot
You make these settings in the P/PI control conversion mode (0x2114). See the details below.
Switching to P control by PCON input takes precedence over this setting.
Setting Value Setting details
0 Always use PI control
1
Switches to P control if the command torque is larger than the P control
switch torque (0x2115)
2
Switches to P control if the command speed is larger than the P control
switch speed (0x2116)
3
Switches to P control if the acceleration command is larger than the P
control switch acceleration (0x2117)
4
Switches to P control if the following error is larger than the P control
switch following error (0x2118)