YASKAWA Sigma-7 SGD7S Series - Page 423

+Pn10C
-Pn10C
PI
P
P
Speed reference
Speed
Motor speed
Time
Torque reference
Torque reference 0
PI control PI control
Fig. 308: Torque Reference as the Mode Switching Condition
Using the Speed Reference as the Mode Switching Condition
n Rotary Servomotors
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.
Pn10D
PI
Speed
Speed reference
Motor speed
Time
PI controlP control
Fig. 309: Speed Reference as the Mode Switching Condition - Rotary
n Linear Servomotors
When the speed reference equals or exceeds the speed set for the mode switching level
for a speed reference (Pn181), the speed loop is changed to P control.
Pn181
PI
Speed
Speed reference
P control
Motor speed
Time
PI control
Fig. 310: Speed Reference as the Mode Switching Condition - Linear
Using the Acceleration as the Mode Switching Condition
n 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.
+Pn10E
-Pn10E
PI PP
Speed
Speed reference
Motor speed
Time
Motor acceleration
Speed 0
PI control PI control
Fig. 311: Acceleration as the Mode Switching Condition - Rotary
n 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.
Sigma-7 Series SERVOPACKs
Tuning
Manual Tuning > Compatible Adjustment Functions
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