YASKAWA SGD7S Product Manual page 346

• Linear Servomotors
Mode Switching Level for Force Reference
Pn10C Setting Range
0 to 800
Mode Switching Level for Speed Reference
Pn181 Setting Range
0 to 10,000
Mode Switching Level for Acceleration
Setting Range
Pn182
0 to 30,000
Mode Switching Level for Position Deviation
Pn10F Setting Range
0 to 10,000
 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%.
Speed reference
Speed
Torque reference
+Pn10C
Torque reference 0
- Pn10C
PI control
PI P
 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 reference
Speed
Pn10D
PI P control
• 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 reference
Speed
Pn181
PI P control
Setting Unit Default Setting
1% 200
Setting Unit Default Setting
1 mm/s 0
Setting Unit Default Setting
2
0
1 mm/s
Setting Unit Default Setting
1 reference unit 0
Motor speed
Time
PI control
P
Motor speed
Time
PI control
Motor speed
Time
PI control
8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
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