CSDP Plus Servo Drive User Manual

P/PI Mode Set-up Function
By setting the speed loop integral gain (SEt-03) in the speed control or
position control mode, the system will be able to respond to subtle
changes of the command and can be controlled accurately and the
error at the steady state can be 0. If the speed loop integral gain is set
too high in order to increase the response, overshoot may occur with
the speed response in the transient status, which would increase
position completion time. Therefore, position completion time can be
reduced by setting the integral gain to 0 for an instant to restrain
overshoot when necessary. In this case, the speed control loop is used
in the form of a P controller after changing it from a PI controller.
There are two ways to use the speed control loop by changing it from
PI controller type to P controller type.
• Input P Control Shift Control by /P-CON Signal.
• P/PI Mode Shift by Parameter Set-up.
The type of the speed controller is determined in the following way
according to the input channel signal after /P-CON. Signal is allocated
to the input channel.
Therefore, at the controller, a program to shift the speed controller
from PI controller type to P controller type can be made by assessing
the analogue output such as the speed of the servo drive and torque
and the output like /P-COM, /V-COM, /TG-ON.
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