YASKAWA Σ-V Series User Manual page 201

Using the Acceleration Level to Switch Modes
With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration
rate set in Pn182.
+Pn182
Acceleration
- Pn182
<Example>
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the
speed of the linear servomotor may overshoot due to force saturation during acceleration or deceleration. The
mode switch function suppresses force saturation and eliminates the overshooting of the linear servomotor
speed.
Without Mode Switching
Overshoot
Motor
speed
Overshoot
Speed reference
Speed
Motor acceleration
0
PI P PI Control P
Motor
speed
Time
5.9 Compatible Adjustment Function
Motor speed
Time
PI Control
With Mode Switching
Time
5
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