YASKAWA E-V Series User Manual page 240

Using the Acceleration Level to Switch Modes
With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration
rate set in Pn182.
Acceleration
<Example>
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the
speed of the motor may overshoot or undershoot due to force saturation during acceleration or deceleration.
The mode switch function suppresses force saturation and eliminates the overshooting or undershooting of the
motor speed.
Without Mode Switching
Overshoot
Motor
speed
Undershoot
Time
Using the Position Error Pulse Level to Switch Modes
This setting is effective with position control only.
With this setting, the speed loop is switched to P control when the position error pulse exceeds the value set in
Pn10F.
Position
error pulse
Reference speed
Speed
Motor acceleration
+Pn182
0
- Pn182
PI P PI Control
Motor
speed
Reference
Speed
Pn10F
P Control
PI
6.8 Servo Gain Adjustment Application Function
Motor speed
P PI Control
With Mode Switching
Time
Motor
speed
Time
PI Control
6
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