YASKAWA SGDV SERVOPACK User Manual

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6 Adjustments
6.9.5 Mode Switch (P/PI Switching)
6-68
(2) Operating Examples for Different Switching Conditions
 Using the Force Reference [Factory Setting]
With this setting, the speed loop is switched to P control when the value of force reference input exceeds the
force set in Pn10C. The factory setting for the force reference detection point is 200% of the rated force.
 Using the Speed Reference
With this setting, the speed loop is switched to P control when the value of speed reference input exceeds the
speed set in Pn181.
 Using Acceleration
With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration set
in Pn182.
 Using the Position Error
With this setting, the speed loop is switched to P control when the position error exceeds the value set in
Pn10F.
This setting is effective with position control only.
Motor speed
Speed reference
Speed
+Pn10C
Force
Reference
-Pn10C
Force reference
PI Control PI Control
0
PI
P
P
Time
Linear
Speed reference
Speed
Motor speed
Time
P Control PI Control
Pn181
PI
Linear
Motor speed
Speed reference
Speed
Motor acceleration
+Pn182
Acceleration
-Pn182
PI Control PI Control
0
PI
P
P
Time
Linear
Position
error
Speed reference
Speed
Motor speed
Time
P Control PI Control
Pn10F
PI

YASKAWA SGDV SERVOPACK Specifications

General

Model	SGDV
Type	SERVOPACK
Control Modes	Position, Speed, Torque
Communication Interface	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Protection Rating	IP20
Operating Temperature	0°C to 55°C
Vibration Resistance	5.9 m/s² (0.6G) at 10-60Hz
Shock Resistance	49 m/s² (5G)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Regenerative overload, Encoder error