Parker HannifinP Series User Guide 123Speed loop integral timeconstant 1(x2103)Torque command filter timeconstant 1(0x2104)time1(0x211C)Gain conversion time2(0x211B)Gain conversion waitingtime2(0x211D)Speed loop integral timeconstant 2(x2107)Torque command filter timeconstant 2(0x2108)5.10.2 Related ObjectsIndex SubIndex Name VariableFormat Accessibility PDOAllocation Unit0x2119 - Gain Conversion Mode UINT RW Yes -0x211A - Gain Conversion Time 1 UINT RW Yes ms0x211B - Gain Conversion Time 2 UINT RW Yes ms0x211C - Gain Conversion Waiting Time 1 UINT RW Yes ms0x211D - Gain Conversion Waiting Time 2 UINT RW Yes msTable 70. Gain Conversion Related Objects5.10.3 P/PI Control ConversionPI control uses both proportion (P) gain and integral (I) gain of the speed controller.P control refers to control using only proportion gain.Proportion gain determines the response of the overall controller, and the integralgain is used to remove the error of the steady state. Excessive integral gain leads toovershoot during acceleration/deceleration.www.comoso.com
