YASKAWA E-V Series User Manual page 238

<Notes>
• Monitoring the speed response waveform and position error waveform is required for adjustment.
• If I-P control is selected for speed loop control, the mode switching function will be disabled.
(1) Related Parameters
Select the conditions to switch modes (P or PI control switching) by using the following parameters.
Parameter
Uses a force reference level for detection point.
n. 0
[Factory setting]
n. 1 Uses a speed reference level for detection point.
Pn10B n. 2
Uses an acceleration level for detection point.
Uses an position error pulse level for detection
n. 3
point.
n. 4
Does not use mode switch function.
Parameters to set the detection point
Mode Switch (Force Reference)
Pn10C
Setting Range
0 to 800
Mode Switch (Speed Reference)
Pn181
Setting Range
0 to 10000
Mode Switch (Acceleration)
Pn182
Setting Range
0 to 30000
Mode Switch (Position Error)
Pn10F
Setting Range
0 to 10000
Mode switch functions according to the detection point are as follows.
Using the Force Reference Level to Switch Modes (Factory Setting)
With this setting, the speed loop is switched to P control when the value of force reference input exceeds the
force set in Pn10C. The factory setting for the force reference detection point is 200% of the rated force.
Mode Switch
Selection
Setting Unit
1%
Setting Unit
1 mm/s
Setting Unit
2
1 mm/s
Setting Unit
1 reference unit
Reference speed
Speed
Force Reference
+Pn10C
Force
0
Reference
- Pn10C
PI P PI Control
6.8 Servo Gain Adjustment Application Function
Parameter
Containing When
Detection Point Enabled
Setting
Pn10C
Pn181
Pn182 Immediately
Pn10F
−
Position
Speed
Factory Setting When Enabled
200 Immediately
Position
Speed
Factory Setting When Enabled
0 Immediately
Speed Position
Factory Setting When Enabled
0 Immediately
Position
Factory Setting When Enabled
0 Immediately
Motor speed
P PI Control
Classification
Setup
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
6
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