Related Objects
Index
0x2114
Sub
Index
Name
- P/PI Control Conversion Mode
0x2115
- P Control Switch Torque
0x2116
0x2117
0x2118
- P Control Switch Speed
- P Control Switch Acceleration
- P Control Switch Following Error
10. Application Functions
Variable
Format
Accessibility
PDO
Allocation
Unit
UINT
RW
Yes
-
UINT
RW
Yes
0.1%
UINT
RW
Yes
rpm
UINT
RW
Yes
rpm/s
UINT
RW
Yes
pulse
Spe속ed도
Example of P/PI conversion by torquecommand
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.
오O버ve슈rs트hoot
Spe속e도d
오O버v슈er트shoot
PPI제I c어on사tro용l시
시Tim간e
Position d위et치er결m정in시at간ion time
Tim속e도
+0x2115
-0x2115
When using PI/P
control conversion
시T간ime
Position det위er치m결ina정ti시on간time
T토or크qu명e령command
시tim간e
PIPcIo제n어trol PPI제co어ntrol
PIPcIo제n어trol
PIPc제on어trol PPIIc제on어trol
10-35
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