RS Automation OEMax CSD7, Руководство пользователя, Страница: 240 / 332

8-36 Tuning by Gain Setting
CSD7 Servo Drive (EtherCAT)
P/PI Control by Parameter Setting
Meanwhile, you can operate velocity controller as ‘P controller’ type
by parameter setting without allocation external sequence input.
According to parameter setting, you can change velocity controller
to ‘P controller’ type.
•
When internal torque command is bigger than setting value
[%].
•
When velocity command is bigger than setting value [rpm].
•
When position error is bigger than setting value [pulse].
For setting related to the cases above, use the following parameters.
0x2104 P/PI Control Switching Mode CSP
Sub-Index 1 P/PI Control Switching Mode
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~4 1 byte(USINT) - RW - Servo Off 0 Ft-1.04[D0]
Ft-1.04[D0] P/PI Control Switching Mode
Description

0 : P/PI conversion function is not used.
 1 : If torque command is more than setting value[%] of
0x2105 (Ft-1.05), PI control is converted into P control.

2 : If velocity command is more than setting value[rpm] of
0x2105 (Ft-1.05), PI control is converted into P control.

3 : If position error is more than setting value[pulse] of
0x2105 (Ft-1.05), PI control is converted into P control.
 4 : Reserved
0x2105 Threshold for P/PI Control Switching CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~3000 2 byte(UINT) - RW - Always 100 Ft-1.05
Ft-1.05 Threshold for P/PI Control Switching
Description  It set the conversion threshold for P/PI control.