8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
8
T
uning
8-89
Mode Switching (Changing between Proportional and PI
Control)
You can use mode switching to automatically change between proportional control and PI con-
trol.
Overshooting caused by acceleration and deceleration can be suppressed and the settling time
can be reduced by setting the switching condition and switching levels.
Related Parameters
Select the switching condition for mode switching with Pn10B = n.
X.
Parameters That Set the Switching Levels
•
Rotary Servomotors
Parameter
Mode Switching
Selection
Parameter That Sets the
Level
When
Enabled
Classification
Rotary
Servomotor
Linear
Servomotor
Pn10B
n.
0
(default setting)
Use the internal
torque reference as
the condition.
Pn10C
Immediately
Setup
n.
1
Use the speed ref-
erence as the con-
dition.
Pn10D
Pn181
n.
2
Use the accelera-
tion reference as
the condition.
Pn10E
Pn182
n.
3
Use the position
deviation as the
condition.
Pn10F
n.
4
Do not use mode
switching.
−
Pn10C
Mode Switching Level for Torque Reference
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 800
1%
200
Immediately
Tuning
Pn10D
Mode Switching Level for Speed Reference
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 10,000
1 min
-1
0
Immediately
Tuning
Pn10E
Mode Switching Level for Acceleration
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 30,000
1 min
-1
/s
0
Immediately
Tuning
Pn10F
Mode Switching Level for Position Deviation
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 10,000
1 reference unit
0
Immediately
Tuning
Without Mode
S
witching
With Mode
S
witching
Motor
s
peed
Over
s
hooting
Actual
S
ervomotor
operation
Reference
Time
S
ettling time
Over
s
hooting
Motor
s
peed
S
ettling time
Time
Speed
Position
Speed
Position
Speed
Position
Position
