Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 200)

5.9 Compatible Adjustment Function
5-63
Adjustments
Using the Position Error Pulse Level to Switch Modes
With this setting, the speed loop is switched to P control when the position error pulse exceeds the value set in
Pn10F.
This setting is effective with position control only.
<Example>
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop
gain to reduce the settling time. Using the mode switch suppresses overshooting when speed loop gain is
increased.
Position
error pulse
Reference
Speed
Motor
rotational
speed
Time
P Control PI Control
Pn10F
PI
Without Mode Switching With Mode Switching
Motor
rotational
speed
Speed reference
Long Settling Time
Increase speed loop gain
Settling time
Motor
rotational
speed
Overshoot
Overshoot
Motor
rotational
speed
Time
Motor
rotational
speed
Time
Time