YASKAWA SGD7S-1R9D Product Manual page 347

 Using the Acceleration as the Mode Switching Condition
• Rotary Servomotors
When the speed reference equals or exceeds the acceleration rate set for the mode switching
level for acceleration (Pn10E), the speed loop is changed to P control.
Speed reference
Speed
Motor acceleration
+Pn10E
Speed 0
- Pn10E
PI P PI control
• Linear Servomotors
When the speed reference equals or exceeds the acceleration rate set for the mode switching
level for acceleration (Pn182), the speed loop is changed to P control.
Speed reference
Speed
Motor acceleration
+Pn182
Acceleration 0
- Pn182
PI P PI control
 Using the Position Deviation as the Mode Switching Condition
When the position deviation equals or exceeds the value set for the mode switching level for
position deviation (Pn10F), the speed loop is changed to P control.
This setting is enabled only for position control.
Speed reference
Speed
Position deviation
Pn10F
PI P control
Position Integral
The position integral is the integral function of the position loop. This parameter is effective for
electronic cams and electronic shafts.
Position Integral Time Constant
Pn11F
(211F Setting Range
hex)
0 to 50,000
Motor speed
Time
P PI control
Motor speed
Time
P PI control
Motor speed
Time
PI control
Setting Unit Default Setting
0.1 ms
8.13.2 Compatible Adjustment Functions
Position
When Enabled
0 Immediately
8.13 Manual Tuning
8
Classification
Tuning
8-89