YASKAWA SGD7S-1R9D Product Manual page 345

Mode Switching (Changing between Proportional and PI
Control)
You can use mode switching to automatically change between proportional control and PI con-
trol.
Overshooting caused by acceleration and deceleration can be suppressed and the settling time
can be reduced by setting the switching condition and switching levels.
Without Mode Switching
Motor
Overshooting
speed
Reference
Overshooting
 Related Parameters
Select the switching condition for mode switching with Pn10B = n.X.
Parameter
Use the internal

n. 0
torque reference as
(default setting)
the condition.
Use the speed ref-

n. 1 erence as the con-
dition.
Pn10B
Use the accelera-
(210B

n. 2 tion reference as
hex)
the condition.
Use the position

n. 3 deviation as the
condition.
Do not use mode

n. 4
switching.
 Parameters That Set the Switching Levels
• Rotary Servomotors
Mode Switching Level for Torque Reference
Pn10C
(210C Setting Range
hex)
0 to 800
Mode Switching Level for Speed Reference
Pn10D
Setting Range
(210D
hex)
0 to 10,000
Mode Switching Level for Acceleration
Pn10E
Setting Range
(210E
hex)
0 to 30,000
Mode Switching Level for Position Deviation
Pn10F
(210F Setting Range
hex)
0 to 10,000
Actual Servomotor
operation
Time
Settling time
Parameter That Sets the
Mode Switching
Selection
Rotary
Servomotor
Pn10C (210C hex)
Pn10D
(210D hex)
Pn10E
(210E hex)
Pn10F (210F hex)
Setting Unit Default Setting
1%
Setting Unit Default Setting
-1
1 min
Setting Unit Default Setting
-1
1 min /s
Setting Unit Default Setting
1 reference unit
8.13.2 Compatible Adjustment Functions
With Mode Switching
Motor
speed
Settling time
Level
When
Enabled
Linear
Servomotor
Pn181
(2181 hex)
Pn182 Immediately
(2182 hex)
−
Speed
When Enabled
200 Immediately
Speed
When Enabled
0 Immediately
Speed
When Enabled
0 Immediately
When Enabled
0 Immediately
8.13 Manual Tuning
Time
Classification
Setup
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
8-87
8