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

8.9.2 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.
Without Mode Switch
Motor
Overshoot
speed
(1) Related Parameters
Select the switching condition of the mode switch with Pn10B.0.
Parameter
n.0
[Factory setting]
n.1
Pn10B
n.2
n.3
n.4
 Parameters to Set the Level of Detection Points
Mode Switch (Torque Reference)
Pn10C
Setting Range
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
Actual servomotor
operation
Reference
Time
Overshoot
Settling time
Mode Switch Selection
Uses an internal torque reference
level for the switching conditions.
Uses a speed reference level for the
switching conditions.
Uses an acceleration level for the
switching conditions.
Uses a position error level for the
switching conditions.
Does not use mode switch function.
Setting Unit
0 to 800 1%
Setting Unit
-1
1 min
Setting Unit
-1
1 min /s
Setting Unit
1 reference unit
8.9 Compatible Adjustment Function
With Mode Switch
Motor
speed
Settling time
Parameter
Containing
Detection Point
Setting
Pn10C
Pn10D
Pn10E
Pn10F
-
Speed Position
Factory Setting When Enabled
200 Immediately
Speed Position
Factory Setting When Enabled
0 Immediately
Speed Position
Factory Setting When Enabled
0 Immediately
Position
Factory Setting When Enabled
0 Immediately
Time
When
Classification
Enabled
Immedi-
Setup
ately
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
8-85
8