Mode Switch (P/Pi Switching) - YASKAWA Sigma-V Series User Manual

6 Adjustments

6.9.5 Mode Switch (P/PI Switching)

6.9.5

Mode Switch (P/PI Switching)

The mode switch automatically switches between proportional and PI control. Set the switching condition
with Pn10B.0 and set the level of detection points with Pn10C, Pn10D, Pn10E, and Pn10F.
Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced
by setting the switching condition and detection points.
Motor
speed
(1) Related Parameters
Select the switching condition of the mode switch with Pn10B.0.
Pn10B
Parameters to Set the Level of Detection Points
Pn10C
Pn10D
Pn10E
Pn10F
6-70
Without Mode Switch
Overshoot
Reference
Overshoot
Settling time
Parameter
n. 0 Uses an internal torque reference level for the
[Factory setting] switching conditions.
Uses a speed reference level for the switching condi-
n. 1
tions.
Uses an acceleration level for the switching condi-
n. 2
tions.
Uses a position error level for the switching condi-
n. 3
tions.
n. 4 Does not use mode switch function.
Mode Switch (Torque Reference)
Setting Range Setting Unit
0 to 800
Mode Switch (Speed Reference)
Setting Range Setting Unit
0 to 10000
Mode Switch (Acceleration)
Setting Range Setting Unit
0 to 30000
Mode Switch (Position Error)
Setting Range Setting Unit
0 to 10000 1 reference unit
Motor
Actual servomotor
speed
operation
Time
Mode Switch Selection
Factory Setting
1% 200
Factory Setting
-1
0
1 min
Factory Setting
-1
0
1 min /s
Factory Setting
0
With Mode Switch
Settling time
Parameter
Containing
Detection Enabled
Point Setting
Pn10C
Pn10D
Immedi-
Pn10E
Pn10F
−
Position
Speed
When Enabled
Immediately
Position
Speed
When Enabled
Immediately
Position
Speed
When Enabled
Immediately
Position
When Enabled
Immediately
Time
When Classifi-
cation
Setup
ately
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning