6-31
(3) Determine the Acceleration Command to switch to PI/P Mode
When the acceleration command is less than the
Cn018
switching condition, it is PI control;
when the acceleration command is greater than the
Cn018
switching condition, then switch to P
control only, the schematic diagram is as follows:
Cn018 PI/P Mode Switching Condition (Acceleration Command)
Initial Value Unit Setting Range Effective RS-485 Address
0 rps/s 0 ~ 18750 Effective after Confirmed 0013H
(4) Determine the Position Error to switch to PI/P Mode
When the position error is less than the
Cn019
switching condition, it is PI control. When the
position error is greater than the
Cn019
switching condition, then switch to P control only, the
schematic diagram is as follows:
Cn019 PI/P Mode Switching Condition (Position Error)
Initial Value Unit Setting Range Effective RS-485 Address
0 pulse 0 ~ 41943040 Effective after Confirmed 0014H/0015H
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