YASKAWA SGDV-OCA05A

8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
8-90
Mode Switching (Changing between Proportional and PI
Control)
You can use mode switching to automatically change between proportional control and PI con-
trol.
Overshooting caused by acceleration and deceleration can be suppressed and the settling time
can be reduced by setting the switching condition and switching levels.
 Related Parameters
Select the switching condition for mode switching with Pn10B = n.X.

Parameters That Set the Switching Levels
• Rotary Servomotors
Parameter
Mode Switching
Selection
Parameter That Sets the
Level
When
Enabled
Classification
Rotary
Servomotor
Linear
Servomotor
Pn10B
n.0
(default setting)
Use the internal
torque reference as
the condition.
Pn10C
Immediately Setup
n.
1
Use the speed ref-
erence as the con-
dition.
Pn10D Pn181
n.2
Use the accelera-
tion reference as
the condition.
Pn10E Pn182
n.
3
Use the position
deviation as the
condition.
Pn10F
n.
4
Do not use mode
switching.
−
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
Without Mode Switching With Mode Switching
Motor
speed
Overshooting
Actual Servomotor
operation
Reference
Time
Settling time
Overshooting
Motor
speed
Settling time
Time