Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 199)

5 Adjustments
5.9.2 Using the Mode Switch (P/PI Switching)
5-62
Using the Acceleration Level to Switch Modes
With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration
rate set in Pn10E.
<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 due to torque saturation during acceleration or deceleration. The mode
switch function suppresses torque saturation and eliminates the overshooting of the motor rotational speed.
Motor rotational speed
Reference speed
Speed
Motor acceleration
+Pn10E
Acceleration
- Pn10E
PI Control PI Control
0
PI P P
Time
Without Mode Switching With Mode Switching
Overshoot
Overshoot
Motor
rotational
speed
Time
Motor
rotational
speed
Time