+Pn182
-Pn182
PI PP
Speed
Speed reference
Motor speed
Time
Motor acceleration
Acceleration 0
PI control PI control
Fig. 312: Acceleration as the Mode Switching Condition - Linear
Using the Position Deviation as the Mode Switching Condition
When the position deviation equals or exceeds the value set for the mode switching level
for position deviation (Pn10F), the speed loop is changed to P control.
This setting is enabled only for position control.
Pn10F
PI
Speed
Speed reference
Motor speed
Time
P control PI control
Position deviation
Fig. 313: Position Deviation as the Mode Switching Condition
The position integral is the integral function of the position loop. This parameter is effec-
tive for electronic cams and electronic shafts.
Position Integral Time Constant
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn11F 0 to 50,000 0.1 ms 0 Immediately Tuning
(applies to Position Control)
9.15 Diagnostic Tools
9.15.1 Mechanical Analysis
You can connect the SERVOPACK to a computer to measure the frequency characteris-
tics of the machine. This allows you to measure the frequency characteristics of the
machine without using a measuring instrument.
Position Integral
Overview
Sigma-7 Series SERVOPACKs
Tuning
Diagnostic Tools > Mechanical Analysis
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 424
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