Yaskawa Sigma II Series Servo System - Manual (Page 102)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
5 - 16
Using the /P-CON Signal
The /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 host
controller to the servo amplifier, the host controller can selectively use P control
mode for particular conditions only. This method can prevent the occurrence of
overshoot and also shorten settling time.
• If PI control mode is used when the speed reference has a reference offset, the
motor may rotate at a very slow speed and fail to stop even if 0 is specified as a
speed reference. In this case, use P control mode to stop the motor.
5.2.2 Position Reference
The reference pulse, reference code, and clear inputs are used for the position
reference. Since this signal can be used in different ways, set the optimum reference
input for the system created.
Reference by Pulse Input
Positioning 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 output
Input P-CON CN1-41 Proportional Control Reference
Speed Control,
Position Control
Reference
code input
Clear input
Reference
pulse input
PULS
/PULS
CN1-7
CN1-8 P
SIGN
/SIGN
CN1-11
CN1-12 P
CLR
/CLR
CN1-15
CN1-14 P
Servo Amplifier
Photocoupler
P represents twisted pair wires