Example Of Use - YASKAWA SGM series User Manual

3)Servopacks can use four types of mode switches (1 to 4). To select a mode switch, use
the following memory switch. Note that the mode switch setting methods for speed/
torque control and position control are slightly different.
For Speed/
For Position
Torque
Control
Control
(SGDA-
(SGDA-jj
jjjP)
jS)
Memory
Memory
Switch
Switch Cn-01
Cn-01
Bit Bit
Bit D Bit C
D C
1 1 − −
0 0 0 0
0 1 0 1
1 0 1 0
1 1
When Torque Reference Is Used as a Detection Point of
Mode Switch
If a torque reference exceeds the torque value set
in user constant Cn-0C, the speed loop switches
to P control.
The SGDA Servopack is factory set to this stan-
dard mode (Cn-0C = 200).

Example of Use:

If a mode switch is not used and PI control is always performed, torque may
enter a saturation state during acceleration or deceleration, causing the motor
speed to have overshoot or undershoot.
Using the mode switch suppresses torque saturation and prevents the motor
speed from having overshoot and undershoot.
Without mode switch
Overshoot
Motor
speed
Undershoot
Time
Mode Switch Setting Mode Switch Setting
Bit
B
Does not use mode
1
switch.
Uses torque reference as
a detection point.
0
(Standard setting)
Uses speed reference as
0
a detection point.
Uses acceleration refer-
0
ence as a detection point.
Uses error pulse as a
0
detection point.
3.6 Minimizing Positioning Time
User Constant User Constant Unit Unit
Percentage of
Cn-0C
rated torque: %
Motor speed:
Cn-0D
r/min
Acceleration
reference in-
Cn-0E side the Servo-
pack:
10 (r/min)/s
Cn-0F Reference unit
(Standard
Setting)
Reference
speed
Speed
Internal torque
reference
Torque
PI control PI control
P control P control
With mode switch
Motor
speed
Time
3
Motor
speed
PI control
119