YASKAWA SGLFW User Manual page 366

With this setting, the speed loop is switched to P control when the
motor's acceleration rate exceeds the acceleration rate set in param-
eter Pn182.
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to force saturation during acceleration or deceleration. The mode switch function
suppresses force saturation and eliminates the overshooting or undershooting of the motor speed.
Without Mode Switching
Overshoot
Motor
speed
Undershoot
Time
This setting is effective with position control only.
With this setting, the speed loop is switched to P control when
the error pulse exceeds the value set in parameter Pn10F.
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.
Without Mode Switching
Speed
reference
Motor
speed
Increase speed loop gain.
Motor
speed
Using the Acceleration Level to Switch Modes
Using the Error Pulse Level to Switch Modes
Motor speed
Long settling time
Overshoot
Undershoot
Time
10.4 Servo Gain Adjustment Functions
Reference speed
Speed
Motor acceleration
+Pn182
Acceler-
ation 0
- Pn182
PI control
PI P
With Mode Switching
Motor
speed
Time
Reference
Speed
Position
error pulse
Pn10F
P control
PI
With Mode Switching
Motor
speed
Settling time
Motor speed
P PI control
Motor
speed
Time
PI control
10
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