YASKAWA SGDH User Manual page 531

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9 Adjustments

9.4.5 Using the Mode Switch (P/PI Switching)

With this setting, the speed loop is switched to P control when the

value of torque reference input exceeds the torque set in parameter

Pn10C. The factory default setting for the torque reference detection

point is 200% of the rated torque (Pn10C = 200).

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 torque saturation during acceleration or deceleration. The mode switch function

suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.

With this setting, the speed loop is switched to P control when the value

of speed reference input exceeds the speed set in parameter Pn10D.

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.

Increase speed loop gain.

Using the Torque Reference Level to Switch Modes (Factory Setting)

Without Mode Switching

Using the Speed Reference Level to Switch Modes

Without Mode Switching

Long settling time

Reference speed

Torque reference

With Mode Switching

Speed reference

With Mode Switching

Settling time

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