6 Adjustments6.7.4 Proportional Control6-486.7.4 Proportional ControlThe /P-CON signal can be sent from the host control to select proportional control.The speed control section uses a PI control if the reference stays zero in the speed control. This integral effectmay cause the servomotor to move. Switch the PI control to a proportional control to prevent this from occur-ring.If the speed control is set with a zero clamp function, however, a position loop will be formed so there is noneed to use this function. The speed control is set to proportional control if the /P-CON signal is ON.Proportional control operation is set using parameter Pn000.1 and input signal /P-CON.(1) /P-CON Input SignalInput signal /P-CON is used to switch between PI control and P control.Example: Factory-set Input Signal AllocationsNote: This is an example when the input signal allocations are at the default factory settings.(2) Control Method and Proportional Control Input SignalProportional control operation is enabled when the control method is set to speed or position control.Note: Refer to 5.7 Combination of Control Methods for how to switch control methods.Type SignalNameConnectorPin Number Setting MeaningInput /P-CON CN1-41[Factory setting]OFF (High level) Switches to PI control (proportional-integralcontrol).ON (Low level) Switches to P control (proportional control).Multi-winding drive unit/P-CONP/PI Switching 41CN1Parameter Contents Switching to the ProportionalControlPn000n.0[Fac-tory setting] Speed control Can be switched with the factorysetting (CN1-41=/P-CON)./P-CON signal can be allocated toother terminals as required.n.1 Position controln.2 Torque control Cannot switch to proportionalcontrol.n.3 Internal set speed controlAllocation of /P-CON to one ofterminals CN1-40 to 46 areneeded.n.4 Internal set speed control ↔ Speed controln.5 Internal set speed control ↔ Position controln.6 Internal set speed control ↔ Torque controln.7 Position control ↔ Speed controln.8 Position control ↔ Torque controln.9 Torque control ↔ Speed controln.A Speed control ↔ Speed control with zero clampfunctionn.B Position control ↔ Position control with referencepulse inhibit function
