YASKAWA SGMJV User Manual page 265

Using the Acceleration Level to Switch Modes
With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration
rate set in Pn10E.
+Pn10E
Acceleration
- Pn10E
<Example>
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the
speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration.
The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of
the motor rotational speed.
Without Mode Switching
Overshoot
Motor
rotational
speed
Undershoot
Reference speed
Motor rotational speed
Speed
Motor acceleration
0
PI P PI Control P
Motor
rotational
speed
Time
6.9 Compatible Adjustment Function
Time
PI Control
With Mode Switching
Time
6
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