YASKAWA E-7S SERVOPACK SGD7S - Page 354

8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
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8
Tuning
 Using the Acceleration as the Mode Switching Condition
• Rotary Servomotors
When the speed reference equals or exceeds the acceleration rate set for the mode switching
level for acceleration (Pn10E), the speed loop is changed to P control.
• Linear Servomotors
When the speed reference equals or exceeds the acceleration rate set for the mode switching
level for acceleration (Pn182), the speed loop is changed to P control.

Using the Position Deviation as the Mode Switching Condition
When the position deviation equals or exceeds the value set for the mode switching level for
position deviation (Pn10F), the speed loop is changed to P control.
This setting is enabled only for position control.
Position Integral
The position integral is the integral function of the position loop. It is used for the electronic
cams and electronic shafts when using the SERVOPACK with a Yaskawa MP3000-Series
Machine Controller.
Pn11F
Position Integral Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 50,000 0.1 ms 0 Immediately Tuning
+Pn10E
-Pn10E
PI PP
Speed
Speed reference
Motor speed
Time
Motor acceleration
Speed 0
PI control PI control
+Pn182
-Pn182
PI PP
Speed
Speed reference
Motor speed
Time
Motor acceleration
Acceleration 0
PI control PI control
Pn10F
PI
Speed
Speed reference
Motor speed
Time
P control PI control
Position deviation