YASKAWA Sigma Mini SGMM Series User Manual page 99

APPLICATIONS
2.6.6 Mode Switch cont.
2
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For Speed/
For Position
Torque
Control
Control
Memory
Mode Switch Setting
Memory
Switch
Switch Cn-01
Cn-01
Bit Bit Bit
Bit D Bit C
D C B
Does not use mode
1 1 - - 1
switch.
Uses torque reference as
0 0 0 0 0 a detection point.
(Standard setting)
Uses speed reference as
0 1 0 1 0
a detection point.
Uses acceleration refer-
1 0 1 0 0
ence as a detection point.
Uses error pulse as a
1 1 0
detection point.
When Torque Reference Is Used as a Detection Point of Mode Switch (Standard
Setting)
If a torque reference exceeds the torque value set
in parameter Cn-0C, the speed loop switches to P
control.
The Servopack is factory set to this standard
mode (Cn-0C = 200).
• Example of Use:
If a mode switch is not used and PI control is always performed, torque may enter a
saturation state during acceleration or deceleration, causing the motor speed to have
overshoot or undershoot.
Using the mode switch suppresses torque saturation and prevents the motor speed
from having overshoot and undershoot.
Without mode switch
Overshoot
Motor
speed
Undershoot
Time
— 2-54 —
Parameter Unit
Percentage of
Cn-0C
rated torque: %
Motor speed:
Cn-0D
−1
min
Acceleration
reference in-
Cn-0E side the Servo-
pack:
−1
10 (min )/s
Cn-0F Reference unit
Reference
Motor
speed
speed
Speed
Internal torque
reference
Torque
PI control
PI control PI control
P control
P control
With mode switch
Motor
speed
Time