8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
8-90
•
Linear Servomotors
Using the Torque Reference as the Mode Switching Condition (Default Setting)
When the torque reference equals or exceeds the torque set for the mode switching level for
torque reference (Pn10C), the speed loop is changed to P control.
The default setting for the torque reference level is 200%.
Using the Speed Reference as the Mode Switching Condition
•
Rotary Servomotors
When the speed reference equals or exceeds the speed set for the mode switching level for a
speed reference (Pn10D), the speed loop is changed to P control.
•
Linear Servomotors
When the speed reference equals or exceeds the speed set for the mode switching level for a
speed reference (Pn181), the speed loop is changed to P control.
Pn10C
Mode Switching Level for Force Reference
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 800
1%
200
Immediately
Tuning
Pn181
Mode Switching Level for Speed Reference
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 10,000
1 mm/s
0
Immediately
Tuning
Pn182
Mode Switching Level for Acceleration
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 30,000
1 mm/s
2
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
Speed
Position
Speed
Position
Speed
Position
Position
+Pn10C
- Pn10C
PI
P
P
S
peed reference
S
peed
Motor
s
peed
Time
Torque reference
Torque reference 0
PI control
PI control
Pn10D
PI
S
peed
S
peed reference
Motor
s
peed
Time
PI control
P control
Pn181
PI
S
peed
S
peed reference
P control
Motor
s
peed
Time
PI control
