Parker HannifinP Series User Guide 125 Related ObjectsIndex SubIndex Name VariableFormat Accessibility PDOAllocation Unit0x2114 - P/PI Control Conversion Mode UINT RW Yes -0x2115 - P Control Switch Torque UINT RW Yes 0.1%0x2116 - P Control Switch Speed UINT RW Yes rpm0x2117 - P Control Switch Acceleration UINT RW Yes rpm/s0x2118 - P Control Switch FollowingError UINT RW Yes pulseTable 71. P/PI control Related Objects Example of P/PI conversion by torque commandUsing PI control at all times without using P/PI conversion during speed control resultsin accumulation of the integral term during acceleration/deceleration, which in turnresults in overshoot and longer position determination time. By using appropriate P/PIconversion mode, you can reduce the determination time. The figure below shows anexample of conversion mode by torque command.Figure 40. Example of P/PI Conversionwww.comoso.com
