YASKAWA Sigma-V Series User Manual page 209

5 Adjustments
5.7.2 Mode Switch (P/PI Switching)
(2) Operating Examples for Different Switching Conditions
 Using the Internal Torque Reference [Factory Setting]
With this setting, the speed loop is switched to P control when the value of internal torque reference input
exceeds the torque set in Pn10C. The factory setting for the torque reference detection point is 200% of the
rated torque.
 Using the Speed Reference
With this setting, the speed loop is switched to P control when the value of speed reference input exceeds the
speed set in Pn10D.
 Using Acceleration
With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration set
in Pn10E.
 Using the Position Error
With this setting, the speed loop is switched to P control when the position error exceeds the value set in
Pn10F.
This setting is effective with position control only.
5-52
Speed reference
Speed
Internal torque reference
+Pn10C
Torque
0
Reference
- Pn10C
PI P PI Control
Speed reference
Speed
Pn10D
P Control
PI
Speed reference
Speed
Motor acceleration
+Pn10E
Acceleration 0
- Pn10E
PI P PI Control
Speed reference
Speed
Position
error
Pn10F
P Control
PI
Motor speed
Rotation
Time
P PI Control
Motor speed
Rotation
Time
PI Control
Rotation
Motor speed
Time
P PI Control
Motor speed
Time
PI Control