Parker PD-04 Series User Manual

Parker Hannifin
P series User Guide 112
 Related Objects
Index
Sub
Index
Name
Variable
Format
Accessibility
PDO
Allocation
Unit
0x2114
-
P/PI Control Conversion Mode
UINT
RW
Yes
-
0x2115
-
P Control Switch Torque
UINT
RW
Yes
0.1%
0x2116
-
P Control Switch Speed
UINT
RW
Yes
rpm
0x2117
-
P Control Switch Acceleration
UINT
RW
Yes
rpm/s
0x2118
-
P Control Switch Following
Error
UINT
RW
Yes
pulse
Table 70. P/PI control Related Objects
 Example of P/PI conversion by torque command
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.
Figure 39. Example of P/PI Conversion

Parker PD-04 Series Specifications

General

Brand	Parker
Model	PD-04 Series
Category	Servo Drives
Language	English