5-22
(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:
Cn016
PI/I -Mode Switching Condition
(Torque Command)
Speed
Torque Command
(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:
Speed
PI/P -Mode Switching Condition
(Speed Command)
(3) PI to P mode switch over by comparing Acceleration command.
When the Acceleration command is less than Cn018 PI control is selected.
When the Acceleration command is greater than Cn018 P control is selected.
As shown in diagram below:
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