3.6 Minimizing Positioning Time117For speed/torque control (SGDA-jjjS) only.Cn-01Setting Control ModeBit B Bit AControl ModeSpeed ControlThis is normal speed control.D Speed reference is input from V-REF(1CN-3).D Signal P-CON (1CN-15) is used to switchbetween P control and PI control.SGDAServopackSpeedreferenceP/PIchangeover0 0 P-CON (1CN-15)is open (OFF)PI controlchangeoverP-CON (1CN-15)is closed (ON)P controlD Torque reference input T-REF (1CN-1)cannot be used.2) Proportional control can be used in the following two ways.a) When operation is performed by sending speed references from the host controller tothe Servopack, the host controller can selectively use P control mode for particularconditions only. This method can prevent the occurrence of overshoot and also short-en settling time. For particular conditions, refer to 3.6.6 Using Mode Switch.b) If PI control mode is used when the speed reference has a reference offset, the motormay rotate at a very slow speed and fail to stop even if 0 is specified as a speed refer-ence. In this case, use P control mode to stop the motor.3.6.5 Setting Speed BiasThe settling time for positioning can be reduced by assigning bias to the speed reference out-put part in the Servopack. To assign bias, use the following constant.Cn-1CBIASLVBiasUnit:r/minSettingRange: 0to 450FactorySetting: 0For Position ControlOnlyThis user constant is for position control(SGDA-jjjP) only.This user constant is set to assign an offset to aspeed reference in the SGDA Servopack.Use this constant to shorten settling time.Set this user constant according to machine conditions.3SGDA- PPositionsInternal speedreferenceError pulse
