Yaskawa MP940 - Manual (Page 296)

Parameters
6.4.3 Gain-related Parameters
6-56
Pn10D
Mode Switch: Speed
Reference r/min
0 to 10000 Pn10B.0 = 1: Speed Reference Used as Detection Point
When the speed reference exceeds the speed set in parameter
Pn10D, the speed loop switches to P control.
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 over-
shooting and undershooting when speed loop gain is increased.
0 Speed
Torque
Position
Pn10E
Mode Switch
Acceleration 10/r/min/s
0 to 3000 Pn10.B=2: Acceleration Used as Detection Point
If motor acceleration exceeds the value set in parameter Pn10E,
the speed loop switches to P control.
Operating Example
If the system is always in PI control without using the mode
switch function, the speed of the motor may overshoot or under-
shoot due to torque saturation at the time of the acceleration or
deceleration of the motor. The mode switch function suppresses
torque saturation and eliminates the overshooting or undershoot-
ing of the motor speed.
0 Speed
Torque
Reference
Parameter No. Digit
Name
(Setting
Range)
Details Default
Control
Modes
Pn10D
Speed
Speed reference
PI control PI control P control
Motor speed
Time
Without mode switch
Motor
speed
Speed reference
Motor
speed
Long setting time
Increase speed
loop gain.
Without mode switch
Motor
speed
Overshooting
Under-
shooting
Time
With mode switch
Motor
speed
Setting time
Suppress
overshooting
and under-
shooting.
+Pn10E
-Pn10E
Speed
Reference speed
Motor speed
Motor acceleration
PI control
PI control PI control
P control P control
Acceleration 0
Without mode switch
Overshooting
Under-
shooting
Time Time
With mode switch
Motor
speed
Motor
speed