Yaskawa MP940 Reference Manual - Manual (Page 269)

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters
6-69
Pn10E
Mode Switch
(acceleration) 10rpm/s
0 ~ 3000 When Pn10B.0 = 2 assuming acceleration
as the detection point, the speed loop is in
P control when the motor acceleration is at
or above the speed set in user parameter
Pn10E.
Usage Example
During accel/decel, torque saturation may
occur, resulting in motor speed
undershoot or overshoot when constant PI
control without the use of mode switches
is assumed.Supress torque saturation ans
eliminate motor speed overshoot and
undershoot by using the mode switches.
0 Speed
Torque
Position
Pn10F
Mode Switch
(error pulse) Command
Unit
0 ~ 10000 Cannot be used when used in connection
with an MP940. 0 Position
Gain Related Parameters (Continued)
User
Parameter
Number
Digital
Position
Name
(setting
range)
Content
Default
Setting
Control
Mode
Motor Acceleration
PI Control
P Control
PI Control
P Control
+Pn10E
0 acceleration
-Pn10E
PI Control
Motor Speed
Reference Speed
Speed
Overshoot
Under-
shoot
Motor
Speed
Time
w/o Mode Switch
w/ Mode Switch
Motor
Speed
Time