YASKAWA E-7S SERVOPACK SGD7S - Page 353

8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
8-86
 Using the Torque Reference as the Mode Switching Condition (Default Setting)
When the torque reference equals or exceeds the torque set for the mode switching level for
torque reference (Pn10C), the speed loop is changed to P control.
The default setting for the torque reference level is 200%.

Using the Speed Reference as the Mode Switching Condition
• Rotary Servomotors
When the speed reference equals or exceeds the speed set for the mode switching level for a
speed reference (Pn10D), the speed loop is changed to P control.
• Linear Servomotors
When the speed reference equals or exceeds the speed set for the mode switching level for a
speed reference (Pn181), the speed loop is changed to P control.
+Pn10C
-Pn10C
PI
P
P
Speed reference
Speed
Motor speed
Time
Torque reference
Torque reference 0
PI control PI control
Pn10D
PI
Speed
Speed reference
Motor speed
Time
PI controlP control
Pn181
PI
Speed
Speed reference
P control
Motor speed
Time
PI control