6.9 Compatible Adjustment Function6-636 Adjustments6.9.4 Mode Switch (P/PI Switching)The mode switch automatically switches between proportional and PI control. Set the switching conditionwith Pn10B.0 and set the level of detection points with Pn10C, Pn10D, Pn10E, and Pn10F.Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reducedby setting the switching condition and detection points.(1) Related ParametersSelect the switching condition of the mode switch with Pn10B.0. Parameters to Set the Level of Detection PointsActual servomotoroperationReferenceSettling timeWithout Mode Switch With Mode SwitchOvershootMotorspeedTimeMotorspeedTimeOvershoot Settling timeParameter Mode Switch SelectionParameterContainingDetectionPoint SettingWhenEnabledClassifi-cationPn10Bn.0[Factory setting]Uses an internal torque reference level for theswitching conditions. Pn10CImmedi-ately Setupn.1 Uses a speed reference level for the switching con-ditions. Pn10Dn.2 Uses an acceleration level for the switching condi-tions. Pn10En.3 Uses a position error level for the switching condi-tions. Pn10Fn.4 Does not use mode switch function. −Pn10CMode Switch (Torque Reference) ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 800 1% 200 Immediately TuningPn10DMode Switch (Speed Reference) ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 10000 1 min -1 0 Immediately TuningPn10EMode Switch (Acceleration) ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 30000 1 min -1/s 0 Immediately TuningPn10FMode Switch (Position Error) ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 10000 1 reference unit 0 Immediately TuningSpeed PositionSpeed PositionSpeed PositionPosition
