5-21
Cn016
PI/I -Mode Switching Condition
(Torque Command)
Speed
PI Control
Torque Command
P Control
PI Control PI Control
P Control
Cn017
Speed
PI Control P Control P ControlPI Control PI Control
PI/P -Mode Switching Condition
(Speed Command)
(1) PI to P mode switch over by comparing Torque command.
When the Torque command is less than Cn016 PI control is selected.
When the Torque command is greater than Cn016 P control is selected..
As shown in diagram below:
(2) PI to P mode switch over by comparing Speed command.
When the Speed command is less than Cn017 PI control is selected.
When the Speed command is greater than Cn017 P control is selected.
As shown in diagram below:
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