YASKAWA SGD7S series Product Manual page 428

Mode Switching (Changing between Proportional and PI
Control)
You can use mode switching to automatically change between proportional control and PI con-
trol.
Overshooting caused by acceleration and deceleration can be suppressed and the settling time
can be reduced by setting the switching condition and switching levels.
Without Mode witching
Motor
Over hooting
peed
Reference
Over hooting
 Related Parameters
Select the switching condition for mode switching with Pn10B = n.X.
Parameter
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-
Pn10B

n. 2 tion reference as
the condition.
Use the position

n. 3 deviation as the
condition.
Do not use mode

n. 4
switching.
 Parameters That Set the Switching Levels
• Rotary Servomotors
Mode Switching Level for Torque Reference
Pn10C Setting Range
0 to 800
Mode Switching Level for Speed Reference
Setting Range
Pn10D
0 to 10,000
Mode Switching Level for Acceleration
Setting Range
Pn10E
0 to 30,000
Mode Switching Level for Position Deviation
Pn10F Setting Range
0 to 10,000
Actual ervomotor
operation
Time
ettling time
Parameter That Sets the
Mode Switching
Selection
Rotary
Servomotor
Pn10D
Pn10E
Setting Unit Default Setting
1%
Setting Unit Default Setting
-1
1 min
Setting Unit Default Setting
-1
1 min /s
Setting Unit Default Setting
1 reference unit
8.13.2 Compatible Adjustment Functions
With Mode witching
Motor
peed
ettling time
Level
When
Enabled
Linear
Servomotor
Pn10C
Pn181
Immediately
Pn182
Pn10F
−
Speed
When Enabled
200 Immediately
Speed
When Enabled
0 Immediately
Speed
When Enabled
0 Immediately
When Enabled
0 Immediately
8.13 Manual Tuning
Time
Classification
Setup
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
8-89
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