YASKAWA SGD7S Product Manual page 345

8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
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.
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
8-90
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