Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors - Manual (Page 207)

5.9 Compatible Adjustment Function
5-63
5
Adjustments
„ 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 Pn182.
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the
speed of the linear servomotor may overshoot due to force saturation during acceleration or deceleration. The
mode switch function suppresses force saturation and eliminates the overshooting of the linear servomotor
speed.
Motor speed
Speed reference
Speed
Motor acceleration
+Pn182
Acceleration
- Pn182
PI Control PI Control
0
PI P P
Time
Without Mode Switching With Mode Switching
Overshoot
Overshoot
Motor
speed
Time
Motor
speed
Time