YASKAWA SGMJV User Manual page 263

Notes:
• Monitoring the speed response waveform and position error waveform is required for adjustment.
• If I-P control is selected for speed loop control, the mode switching function will be disabled.
(1) Related Parameters
Select the conditions to switch modes (P or PI control switching) by using the following parameters.
Parameter
Uses a torque reference level for detection point.
n. 0
[Factory setting]
n. 1 Uses a speed reference level for detection point.
Pn10B n. 2 Uses an acceleration level for detection point.
Uses an position error pulse level for detection
n. 3
point.
n. 4 Does not use mode switch function.
Parameters to set the detection point
Mode Switch (Torque Reference)
Pn10C
Setting Range
0 to 800
Mode Switch (Speed Reference)
Pn10D
Setting Range
0 to 10000
Mode Switch (Acceleration)
Pn10E
Setting Range
0 to 30000
Mode Switch (Position Error)
Pn10F
Setting Range
0 to 10000
Mode switch functions according to the detection point are as follows.
Using the Torque Reference Level to Switch Modes (Factory Setting)
With this setting, the speed loop is switched to P control when the value of torque reference input exceeds the
torque set in Pn10C. The factory setting for the torque reference detection point is 200% of the rated torque.
Mode Switch
Selection
Setting Unit Factory Setting
1 % 200
Setting Unit Factory Setting
-1
0
1 min
Setting Unit Factory Setting
-1
0
1 min /s
Setting Unit Factory Setting
1 reference unit 0
Reference speed
Speed
Torque Reference
+Pn10C
Torque
0
Reference
- Pn10C
PI P PI Control
6.9 Compatible Adjustment Function
Parameter
Containing When
Detection Point Enabled
Setting
Pn10C
Pn10D
Pn10E Immediately
Pn10F
−
Position
Speed
When Enabled
Immediately
Position
Speed
When Enabled
Immediately
Speed Position
When Enabled
Immediately
Position
When Enabled
Immediately
Motor speed
Time
P PI Control
Classificati
on
Setup
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
6
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