YASKAWA SGMJV User Manual page 266

6 Adjustments
6.9.5 Using the Mode Switch (P/PI Switching)
Using the Position Error Pulse Level to Switch Modes
With this setting, the speed loop is switched to P control when the position error pulse exceeds the value set in
Pn10F.
This setting is effective with position control only.
<Example>
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop
gain to reduce the settling time. Using the mode switch suppresses overshooting and undershooting when
speed loop gain is increased.
Increase speed loop gain
6-72
Speed
Position
error pulse
Pn10F
Without Mode Switching
Speed reference
Motor
rotational
speed
Long Settling Time
Overshoot
Motor
rotational
speed
Undershoot
Reference
Motor
rotational
speed
PI P Control PI Control
With Mode Switching
Motor
rotational
speed
Time
Motor
rotational
speed
Time
Time
Time
Settling time