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

5.9.2 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.
Parameter
n.
[Factory setting]
n.
Pn10B
n.
n.
n.
Parameters to Set the Level of Detection Points
Mode Switch (Torque Reference)
Pn10C
Setting Range
0 to 800
Mode Switch (Speed Reference)
Pn10D Setting Range
0 to 10000
Mode Switch (Acceleration)
Pn10E Setting Range
0 to 30000
Mode Switch (Position Error)
Pn10F Setting Range
0 to 10000
Without Mode Switch
Overshoot
Actual servomotor
operation
Reference
Overshoot
Settling time
Mode Switch Selection
0
Uses an internal torque reference level for the
switching conditions.
Uses a speed reference level for the switching con-
1
ditions.
Uses an acceleration level for the switching condi-
2
tions.
Uses a position error level for the switching condi-
3
tions.
4 Does not use mode switch function.
Setting Unit
1%
Setting Unit
-1
1 min
Setting Unit
-1
1 min /s
Setting Unit
1 reference unit
Motor
speed
Time
Speed
Factory Setting
200
Speed
Factory Setting
0
Speed
Factory Setting
0
Factory Setting
0
5.9 Compatible Adjustment Function
With Mode Switch
Time
Settling time
Parameter
Containing When Classifi-
Detection Enabled
Point Setting
Pn10C
Pn10D
Immedi-
Pn10E ately
Pn10F
−
Position
Classification
When Enabled
Immediately
Tuning
Position
Classification
When Enabled
Immediately
Tuning
Position
Classification
When Enabled
Immediately
Tuning
Position
Classification
When Enabled
Immediately
Tuning
cation
Setup
5
5-85