YASKAWA E-7-Series SGD7S Product Manual page 380

Speed reference
Speed
Torque reference
+Pn10C
Torque reference 0
- Pn10C
PI control
PI P
 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 reference
Speed
Pn10D
PI P control
• 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 reference
Speed
Pn181
PI P control
 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
Motor speed
Time
PI control
P
Motor speed
Time
PI control
Motor speed
Time
PI control
Motor speed
Time
P PI control
Motor speed
Time
P PI control
8.12 Manual Tuning
8.12.2 Compatible Adjustment Functions
8
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