8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
Motor
speed
Related Parameters
Select the switching condition for mode switching with Pn10B = n.X.
Pn10B
Parameters That Set the Switching Levels
• Rotary Servomotors
Pn10C
Pn10D
Pn10E
Pn10F
8-88
Without Mode Switching
Overshooting
Reference
Overshooting
Settling time
Mode Switching
Parameter
Selection
Use the internal
n.
0
torque reference as
(default setting)
the condition.
Use the speed ref-
n.
1
erence as the con-
dition.
Use the accelera-
n.
2
tion reference as
the condition.
Use the position
n.
3
deviation as the
condition.
Do not use mode
n.
4
switching.
Mode Switching Level for Torque Reference
Setting Range
Setting Unit
0 to 800
Mode Switching Level for Speed Reference
Setting Range
Setting Unit
0 to 10,000
Mode Switching Level for Acceleration
Setting Range
Setting Unit
0 to 30,000
Mode Switching Level for Position Deviation
Setting Range
Setting Unit
0 to 10,000
1 reference unit
Actual Servomotor
operation
Time
Parameter That Sets the
Level
Rotary
Servomotor
Pn10C
Pn10D
Pn10E
Pn10F
Default Setting
1%
200
Default Setting
-1
0
1 min
Default Setting
-1
0
1 min
/s
Default Setting
0
With Mode Switching
Motor
speed
Settling time
When
Enabled
Linear
Servomotor
Pn181
Immediately
Pn182
−
When Enabled
Immediately
When Enabled
Immediately
When Enabled
Immediately
When Enabled
Immediately
Time
Classification
Setup
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning