YASKAWA E-7S SERVOPACK SGD7S Product Manual page 353

8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
 Using the Torque Reference as the Mode Switching Condition (Default Setting)
When the torque reference equals or exceeds the torque set for the mode switching level for
torque reference (Pn10C), the speed loop is changed to P control.
The default setting for the torque reference level is 200%.
Torque reference 0
 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
Pn10D
• 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
Pn181
8-86
Speed reference
Speed
Torque reference
+Pn10C
- Pn10C
PI control
PI P
Speed reference
Motor speed
PI P control
Speed reference
Motor speed
PI P control
Motor speed
Time
PI control
P
Time
PI control
Time
PI control