Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 16Using the /P-CON SignalThe /P-CON input signal switches the Speed Control Mode from PI(proportional-integral) to P (proportional) control.Proportional control can be used in the following two ways:• When operation is performed by sending speed references from the hostcontroller to the servo amplifier, the host controller can selectively use P controlmode for particular conditions only. This method can prevent the occurrence ofovershoot and also shorten settling time.• If PI control mode is used when the speed reference has a reference offset, themotor may rotate at a very slow speed and fail to stop even if 0 is specified as aspeed reference. In this case, use P control mode to stop the motor.5.2.2 Position ReferenceThe reference pulse, reference code, and clear inputs are used for the positionreference. Since this signal can be used in different ways, set the optimum referenceinput for the system created. Reference by Pulse InputPositioning is controlled by entering a reference pulse for a move.Any of the following forms can be used for the position reference:• Line-driver output• +12V open-collector output• +5V open-collector outputInput P-CON CN1-41 Proportional Control Reference Speed Control,Position ControlReferencecode inputClear inputReferencepulse inputPULS/PULSCN1-7CN1-8PSIGN/SIGNCN1-11CN1-12PCLR/CLRCN1-15CN1-14PServo AmplifierPhotocouplerP represents twisted pair wires
