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Sigma II User's Manual
Pn10B.0
Setting
3
Uses error pulse input as the detection point.
Torque Reference Input Used as Detection Point (Standard Setting)
With this setting, if the value of torque reference input exceeds the torque set in
parameter Pn10C, the speed loop switches to P control.
The servo amplifier is default set to this standard mode (Pn10C = 200).
Operating Example
If the system is always in PI control without using the mode switch function, the
speed of the motor may overshoot or undershoot due to torque saturation during
motor acceleration or deceleration. The mode switch function suppresses torque sat-
uration and eliminates motor speed overshoot or undershoot.
No mode switch function
Motor
speed
Speed Reference Used as Detection Point
With this setting, if a speed reference exceeds the value set in parameter Pn10D, the
speed loop switches to P control.
Description
Reference speed
Speed
+Pn10C
Torque 0
-Pn10C
PI control
P control
Overshoot
Undershoot
Time
Speed reference
Speed
Pn10D
PI
P control
control
Parameter
Used to Set
Detection Point
Pn10F
Motor speed
Internal torque reference
PI control
PI control
P control
With mode switch function
Motor
speed
Motor speed
Time
PI control
6-12
Chapter 6: Servo Adjustment
Setting Unit
Reference unit
Time
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