Yaskawa Sigma II Series Servo System - Manual (Page 249)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 17
Operating Example
In this example, the mode switch is used to reduce setting time. Generally, speed
loop gain must be increased to reduce setting time. Using the mode switch
suppresses the occurrence of overshoot and undershoot as speed loop gain is
increased.
Acceleration Used as Detection Point
If motor acceleration exceeds the value set in parameter Pn10E, the speed loop
switches to P control.
Motor speed Speed reference
Without mode switch
Long setting time
Increase speed loop gain.
Overshoot
Without mode switch
With mode switch
Setting time
Suppress overshooting
and undershooting.
Motor
speed
Motor
speed
Motor
speed
Undershoot
Time
Motor speed
Reference speed
Speed
Motor acceleration
+Pn10E
Acceleration 0
-Pn10E
PI control PI control PI control
P control P control