Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 136.2.3 Using Proportional ControlIf parameter Pn000.1 is set to 0 or 1 as shown below, input signal /P-CON serves asa PI/P control changeover switch.• PI control: Proportional/integral control.• P control: Proportional control. Methods for Using Proportional ControlProportional control can be used in the following two ways.• When operation is performed by sending speed references from the host control-ler to the servo amplifier, the host controller can selectively use P control modefor particular conditions only. This method can suppress overshooting andshorten setting time. Refer to 6.2.5 Using Mode Switch for particular conditions.• 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.Parameter Signal Setting(%) ApplicationPn000.1 Control Method Selection Default Setting: 0 Speed Control,Position ControlPn000.1Setting Control Mode0 SpeedControlUsual speed control or positioncontrol is selected.Input signal /P-CON (CN1-41) is usedto select PI control or P control.1 PositionControlCN1-41is open. PI controlCN1-41is 0V P controlP or PIcontrolselection CN1-41/P-CONServo amplifier
