Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 253)

8 Adjustments
8.6.2 Using the Mode Switch (P/PI Switching)
8-26
Using the Acceleration Level to Switch Modes
With this setting, the speed loop is switched to P control when the
motor’s acceleration rate exceeds the acceleration rate set in
parameter Pn10E.
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to torque saturation during acceleration or deceleration. The mode switch function
suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.
Using the Error Pulse Level to Switch Modes
This setting is effective with position control only.
With this setting, the speed loop is switched to P control
when the position error pulse exceeds the value set in
parameter Pn10F.
Motor speed
Reference speed
Speed
+Pn10E
Acceleration 0
- Pn10E
PI Control PI Control PI P P
Motor
speed
Time
Overshoot
Undershoot
Motor
speed
Time
Without mode Switching Without mode Switching
Pn10F
Position error pulse
PI
Reference
Speed
Motor
speed
Time
P Control PI Control