YASKAWA SGD7S-1R9D Product Manual page 346

8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
• Linear Servomotors
Pn10C
(210C
hex)
Pn181
(2181
hex)
Pn182
(2182
hex)
Pn10F
(210F
hex)
 Using the Torque Reference as the Mode Switching Condition (Default Setting)
When the torque reference equals or exceeds the torque set for the mode switching level for
torque reference (Pn10C), the speed loop is changed to P control.
The default setting for the torque reference level is 200%.
Torque reference 0
 Using the Speed Reference as the Mode Switching Condition
• Rotary Servomotors
When the speed reference equals or exceeds the speed set for the mode switching level for a
speed reference (Pn10D), the speed loop is changed to P control.
Speed
Pn10D
• Linear Servomotors
When the speed reference equals or exceeds the speed set for the mode switching level for a
speed reference (Pn181), the speed loop is changed to P control.
Speed
Pn181
8-88
Mode Switching Level for Force Reference
Setting Range Setting Unit
0 to 800
Mode Switching Level for Speed Reference
Setting Range Setting Unit
0 to 10,000
Mode Switching Level for Acceleration
Setting Range Setting Unit
0 to 30,000
Mode Switching Level for Position Deviation
Setting Range Setting Unit
0 to 10,000 1 reference unit
Speed reference
Speed
Torque reference
+Pn10C
- Pn10C
PI control
PI P
Speed reference
Motor speed
PI P control
Speed reference
Motor speed
PI P control
Default Setting
1% 200
Default Setting
1 mm/s 0
Default Setting
2
0
1 mm/s
Default Setting
0
Motor speed
Time
PI control
P
Time
PI control
Time
PI control
Speed Position
When Enabled Classification
Immediately Tuning
Speed Position
When Enabled Classification
Immediately Tuning
Speed Position
When Enabled Classification
Immediately Tuning
Position
When Enabled Classification
Immediately Tuning