YASKAWA SGD7S-xxxDA0 series Product Manual page 373

9.13 Manual Tuning
9.13.2 Compatible Adjustment Functions
 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
+Pn10E
Speed 0
- Pn10E
• 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.
Acceleration 0
 Using the Position Deviation as the Mode Switching Condition
When the position deviation equals or exceeds the value set for the mode switching level for
position deviation (Pn10F), the speed loop is changed to P control.
This setting is enabled only for position control.
Position deviation
Position Integral
The position integral is the integral function of the position loop. This parameter is effective for
electronic cams and electronic shafts.
Pn11F
(211Fh)
9-90
Speed reference
Motor speed
Motor acceleration
PI P PI control P
Speed reference
Speed
Motor acceleration
+Pn182
- Pn182
PI P PI control
Speed reference
Speed
Pn10F
PI P control
Position Integral Time Constant
Setting Range
0 to 50,000
Time
PI control
Motor speed
Time
P PI control
Motor speed
Time
PI control
Setting Unit Default Setting
0.1 ms 0
Position
When Enabled Classification
Immediately Tuning