YASKAWA E-S Series - Page 219

8.8 Manual Tuning
8.8.3 Mode Switching (Changing between Proportional and PI Control)
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8
Tuning
 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.
Pn10F
PI
Speed
Speed reference
Motor speed
Time
P control PI control
Position deviation