YASKAWA E-S Series User Manual

8.8 Manual Tuning
8.8.3 Mode Switching (Changing between Proportional and PI Control)
8-42
 Parameters That Set the Switching Levels
Operation Examples by Mode Switching Condition
 Using the Internal Torque Reference as the Mode Switching Condition
(Default Setting)
When the internal 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
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.
 Using the Acceleration as the Mode Switching Condition
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.
Pn10C
Mode Switching Level for Torque Reference
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 800 1% 200 Immediately Tuning
Pn10D
Mode Switching Level for Speed Reference
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 10,000
1 min
-1
0 Immediately Tuning
Pn10E
Mode Switching Level for Acceleration
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 30,000
1 min
-1
/s
0 Immediately Tuning
Pn10F
Mode Switching Level for Position Deviation
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 10,000 1 reference unit 0 Immediately Tuning
+Pn10C
-Pn10C
PI
P
P
Speed reference
Speed
Motor speed
Time
Internal torque reference
Torque reference 0
PI control PI control
Pn10D
PI
Speed
Speed reference
Motor speed
Time
PI controlP control
+Pn10E
-Pn10E
PI PP
Speed
Speed reference
Motor speed
Time
Motor acceleration
Speed 0
PI control PI control

YASKAWA E-S Series Specifications

General

Brand	YASKAWA
Model	E-S Series
Category	Servo Drives
Language	English