PID CONTROL MANUAL

PID Control Manual

Document Number: 58695-000 Date: March, 2008

Introduction
Congratulations on your purchase of the Toshiba 9-Series ASD. The 9-series ASD has been designed to provide excellent speed and torque control in an open-loop feedback configuration. The 9-series ASD performance can be further enhanced by using either process-based or speed-based PID control. PID is a closed-loop technique that minimizes error by reacting to three feedback values: One value that is proportional to the error. One value that is proportional to the cumulative error. One value that is proportional to the rate of change of the error.

Important Notice
The instructions contained in this manual are not intended to cover all details or variations in equipment types. Nor may it provide for every possible contingency concerning the installation, operation, or maintenance of this equipment. Should additional information be required contact your Toshiba representative. The contents of this manual shall not become a part of or modify any prior or existing agreement, commitment, or relationship. The sales contract contains the entire obligation of Toshiba International Corporation. The warranty contained in the contract between the parties is the sole warranty of Toshiba International Corporation and any statements contained herein do not create new warranties or modify the existing warranty. Any electrical or mechanical modifications to this equipment without prior written consent of Toshiba International Corporation will void all warranties and may void other safety certifications. Unauthorized modifications may also result in a safety hazard or equipment damage. Misuse of this equipment could result in injury and equipment damage. In no event will Toshiba Corporation be responsible or liable for direct, indirect, special, or consequential damage or injury that may result from the misuse of this equipment.

Contacting Toshibas Customer Support Center

Toshibas Customer Support Center can be contacted to obtain help in resolving any Adjustable Speed Drive system problem that you may experience or to provide application information. The center is open from 8 a.m. to 5 p.m. (CST), Monday through Friday. The Support Centers toll free number is US (800) 231-1412/Fax (713) 937-9349 Canada (800) 527-1204. You may also contact Toshiba by writing to: Toshiba International Corporation 13131 West Little York Road Houston, Texas 77041-9990 Attn: ASD Product Manager. For further information on Toshibas products and services, please visit our website at www.toshiba.com/ ind/.

About This Manual

This manual was written by the Toshiba Technical Publications Group. This group is tasked with providing technical documentation for the 9-Series family of ASDs. Every effort has been made to provide accurate and concise information to you, our customer. At Toshiba were continuously searching for better ways to meet the constantly changing needs of our customers. E-mail your comments, questions, or concerns about this publication to Technical-Publications-Dept@tic.toshiba.com.

Manuals Purpose and Scope

This manual details the PID feedback control related parameters, functions, and their default values. Both process and speed PID feedback control can be customized by adjusting these ASD parameter settings. This manual is to be used in conjunction with the operations manual specified for your 9-Series ASD. To maximize the functionality of the ASD while operating in the PID control mode a working familiarity with this manual will be required. This manual has been prepared for the ASD installer, user, and maintenance personnel. This manual may also be used as a reference manual or for training. With this in mind, use this manual to develop a system familiarity before attempting to operate the ASD using the PID Control Function parameters Because of our commitment to continuous improvement, Toshiba International Corporation reserves the right, without prior notice, to update information, make product changes, or to discontinue any product or service identified in this publication. Toshiba International Corporation (TIC) shall not be liable for direct, indirect, special, or consequential damages resulting from the use of the information contained within this manual. TOSHIBA is a registered trademark of Toshiba Corporation. All other product or trade references appearing in this manual are registered trademarks of their respective owners. This manual is copyrighted. No part of this manual may be photocopied or reproduced in any form without the prior written consent of Toshiba International Corporation. Copyright 2008 Toshiba International Corporation. All rights reserved. Printed in the U.S.A.

Table of Contents
System Control Using PID................................................................................................ 1 Process/Speed PID Control............................................................................................... 2 Select the PID Mode .................................................................................................... 2 Specify the Process Reference Value........................................................................... 2 Specify the Feedback Response ................................................................................... 4 Set the Limit Parameters .............................................................................................. 6 Set the PID Gain Parameters ........................................................................................ 6 Simple Position PID Control ............................................................................................ 6 Additional PID Related Commands ................................................................................ 7 Switch to Open Loop Operation................................................................................... 7 Reset the Integral and Differential Gain for PID Control ............................................ 7 Display the Process and Feedback Values ................................................................... 7 Scaling the Analog Input Signal................................................................................... 8 PID Control Parameter Summary................................................................................. 10 Parameter Descriptions .............................................................................................. 12

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System Control Using PID

PID is an operating mode that maintains a constant system output by comparing the monitored system output (feedback) to a setpoint and compensating for the difference between the two. System adjustments are increased or decreased as a function of the received feedback. This self-correcting action eliminates the requirement for constant operator intervention. The automatic adjustment may be either process-variable-, speed-, or position dependent. The PID Control Switch parameter enables the PID function by allowing the user to select the PID operating mode. Selecting PID Off disables the PID function. 1. 2. 3. PID Off Disables the PID feedback. Process PID Monitors the control variable (e.g., temperature, pressure, etc.) as the measurement that is to be compared to the setpoint in determining the ASD output adjustment. See Figure 1. Speed PID Monitors the ASD output speed (e.g., Motor RPM, encoder, etc.) as the measurement that is to be compared to the speed setpoint in determining the ASD output adjustment. See Figure 2. Simple Position PID Monitors the load position (e.g., crane, sprayer, etc.) as the measurement that is to be compared to the setpoint in determining the ASD output adjustment. See Figure 3.

4.

Figures 1 3 show the relationship of the parameters required for Process PID, Speed PID, and Easy Position PID. Figure 1. Diagram for F359 = Process PID.
PID Deviation Upper Limit F364 PID Control F365 PID Deviation Lower Limit F371 PID Output Lower Limit PID Output Upper Limit F370 Jump Frequency Processing F013 Lower Limit Frequency Upper Limit Frequency F012 Acceleration Time 1 - F009 Deceleration Time 1 - F010

Process Upper Limit F367 Process Reference Value F368 Process Lower Limit

Increase/ Decrease Rate

Feedback Signal

Figure 2. Diagram for F359 = Speed PID.

Process Increase Rate - F372 Decrease Rate - F373 Process Upper Limit Speed F367 Reference Value F368 Process Lower Limit Process Increase/ Decrease Rate PID Deviation Upper Limit F364 PID Control F365 PID Deviation Lower Limit F371 PID Output Lower Limit PID Output Upper Limit F370 Jump Frequency Processing F013 Lower Limit Frequency Upper Limit Frequency F012

Feedback Signal

Delay Filter F361

PID Control Manual

Figure 3. Diagram for F359 = Position PID.

Position Completion Range F381 Position Reference Value PID Control F381 Position Completion Range

Feedback Signal

Process/Speed PID Control

Select the PID Mode
Select the PID mode at parameter F359 and the PID feedback source at parameter F360. Position PID is addressed specifically in Simple Position PID Control on pg. 6.

Specify the Process Reference Value

Select the feedback input at F004 and F207. Adjust the process reference value (set point) to deliver the desired process variable output. The commanded frequency and actual output frequency may not always be the same because it is only the value of the process variable that is the basis of the feedback response.

Example: Set the Process Reference Value With an External Signal.

An example of a process reference value set with an external signal is shown on the next page. Figure 4. The desired process output is 15 psi. A process reference value of 5 V will produce a process output of 15 psi. This process reference value of 5 V corresponds to a frequency command of 40 Hz. The process feedback is input at the V/I terminals. The ASD parameters F201 F204 are set so a feedback value of 12 mA from the pressure transducer corresponds to a frequency command of 40 Hz. Input the frequency set points and associated process values. Set the maximum frequency to 80 Hz. Parameter settings:
F004 = RR Input F201 = 20% F210 = 0% F360 = V/I Input F202 = 0 Hz F211 = 0 V F011 = 80.0 Hz F203 = 100% F212 = 100% F012 = 80.0 Hz F204 = 80 Hz F213 = 10 V

PID Control Manual

Figure 4. Process reference set with external signal.

3-Phase Input

R S T

U V W

M Pressure sensor P

Pump Process reference value DC: 5 V (0 10 V) Process feedback DC: 4 20 mA RR CC V/I IICC
Desired process value: 15 psi Sensor Range: 10 - 20 psi

Note:

On the 9-Series ASD, set SW301 to either Current or Voltage as the feedback signal type. SW301 is located on the Terminal Board of the 9-Series ASD. See the ASD Operation Manual.

Figure 5. Feedback and Process reference signal frequency conversion.

Process feedback Process feedback (converted into frequency) Process reference value Process reference value (converted into frequency)

20 psi

80 Hz

20 psi

80 Hz 40 Hz

15 psi

10 psi 4 mA 20 mA

0 Hz 4 mA 20 mA

10 psi 0V 10 V

0 Hz 0V 5 V 10 V

Feedback Value (4 20 mA)

4 8 12 16 20

Process Value (0 10 V)
0 2.5 5.0 7.5 10

Operation Frequency Command Value (0 80 Hz)

0 20 40 60 80

Note:

To simplify this example the Upper Limit Frequency (F012) was set to the Maximum Frequency (F011). For real applications it is good practice to set the Upper Limit Frequency lower than the Maximum Frequency.
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Specify the Feedback Response

For V/I frequency control establish the response slope of the ASD by entering two parameter pairs. Each parameter pair consists of an input point setting (F202 and F204) and a corresponding frequency (F201 and F203) at that setting. If using either RR or RX for frequency control, set their respective response slope parameters, F210 F213 or F216 F219, as above. For a 4 - 20 mA current loop feedback signal, 4 mA is 20% of 20 mA. Set parameter F201 to 20% at 4 mA and F202 to 0 Hz, F203 to 100% at 20 mA and F204 to 80 Hz. Figure 6. V/I input points for 4-20 mA feedback signal. F204
80 Hz

F202
0 Hz 4 mA 20 mA

F201
20%

F203
100%

Reverse the Feedback Response

A negative response slope can be established by either of two methods: Switch the values of the V/I Input Point Frequencies F202 and F204. Switch the ASD response from normal to inverted.

Example: Reverse the Response Slope Using V/I Input Point Settings.
A system using a 4 20 mA feedback signal requires an inverted feedback response slope. Parameters F201 F204 would have their values set as shown below. Figure 7. Inverting the feedback response slope. F202
80 Hz

F204
0 Hz 4 mA 20 mA

F201
20%

F203
100%

PID Control Manual

Example: Invert the Response Slope Using an External Switch.

Use the S3 terminal as a PID normal/inverse slope characteristic switching signal input terminal. Parameter Number
F117

Parameter Name
Input Terminal 7 (S3)

Selectable Functions Range

0 131

Setting
54 - PID Positive/Negative Slope Switching

This figure illustrates the PID feedback value (maximum frequency: 80 Hz) to the V/I terminal using the S3 terminal to switch between the positive and negative response slope. When the switch to S3 is open, the feedback slope is normal, and when the switch to S3 is closed, the slope is inverted. Figure 8. Feedback response slope polarity switching with S3.
External analog set point DC: 0 10 V Feedback signal DC: 4 20 mA (Set SW 301 to Current)

80 Hz
Open between S3 and CC

Closed between S3 and CC

0 Hz 4 mA 20% 20 mA 100%

Figure 9. External switch on S3.

External discrete input to S3 S3 CC V/I IICC

V/I Feedback

Table 1. Parameter settings for slope polarity switching output. Parameter Number
F117 F201 F202 F203 F204

Parameter Name
Input Terminal Function - S3 V/I Input Point 1 Setting V/I Input Point 1 Frequency V/I Input Point 2 Setting V/I Input Point 2 Frequency

Setting
54 20 0 100 80 5

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Set the Limit Parameters

Set the high-low limit parameters. Some parameters are mode specific, as indicated in the following table. Table 1. Limit parameters applicability. Limit Parameters
F364, F365 PID Deviation Upper and Lower Limit F368, F367 Process Upper and Lower Limit F370, F371 PID Output Upper and Lower Limit F012, F013 Upper and Lower Limit Frequency F011 Maximum Frequency F009, F010 Acceleration and Deceleration Time F372, F373 Process Increasing and Decreasing Rate F361 Delay Filter

Process PID
YES YES YES YES YES YES NO NO

Speed PID
YES YES YES YES YES NO YES YES

Set the PID Gain Parameters

Set and adjust the F362 Proportional (P), F363 Integral (I), and F366 Differential (D) gain parameters as necessary to optimize the system response. See page 14.

Simple Position PID Control

Simple Position PID control is used to keep a stopped load motionless. Simple Position PID control would be used to keep a stopped elevator from shifting position as the elevator load changed. Simple Position PID control mode requires the ASD be in PG Vector Feedback mode (F015 = 7 or 8) and parameters F240, F241, and F243 set to 0.0 Hz. Simple Position PID control is performed when a position control signal is received. The discrete input terminal assignment for Simple Position PID control is 72. The motor position at the time the command is received is recorded and used as the position reference point. The parameters required for Simple Position PID Control setup are listed in the following table. Table 2. Required Simple Position PID Control parameters. Parameters
F015 F240 F241 F243 F359 F360 F362 F363 6

Function
V/f Control Mode Selection Start Frequency Operating Frequency End Frequency PID Control Switching PID Control Feedback Selection Proportional Gain Integral Gain

Setting
7: PG Vector Feedback Control or 8: PG Vector Feedback Control 0.00 0.00 0.00 3: Position PID Control 6: PG Feedback Option 0.01 100.00 0.01 100.00 PID Control Manual

Parameters
F375 F376 F381 F111-F118 (any one)

Function
Number of PG Input Pulses Number of PG Input Poles Simple Positioning Completion Range Simple Positioning

Setting
12 9999 2 100 72

Additional PID Related Commands

Switch to Open Loop Operation
Switching between PID control and open loop operation can be done with a discrete input. Use the PID Control OFF selection, Input Terminal functions 36 or 37, to switch from PID operation (automatic operation) to open loop operation (manual operation). When switching between PID and open loop operation set the manual setpoint equal to the PID setpoint during the transition in control modes.

Reset the Integral and Differential Gain for PID Control

The PID Differentiation/Integration Clear function is used to reset the PID control integral gain and differential gain to the factory default values. Use discrete input terminal function 52.

Display the Process and Feedback Values

Parameters Display Unit Multiplication Factor (F702) and Display Unit Selection (F703) can be used to modify the ASD display to give a direct reading of the process output. If F703 is set to 1, the displayed value becomes [Frequency displayed] [number specified at F702] = [Value displayed]

Example: Display motor speed for a four-pole motor.

Change the display mode from the default display setting of 60 Hz to display 1800 (rpm) for a 4-pole motor. Set F703 to 1 PID Process Data. Set F702 = 30. 60 x 30 = 1800 The ASD now displays the calculated motor speed of 1800 instead of the real-time output frequency of 60. PID Control Manual
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Scaling the Analog Input Signal

Any two set points may be used to establish a response slope for the ASD. It is not necessary that the two set points be at 0% and 100% of the feedback signal range. Weak feedback signals can compensated for by adjusting the set points. For instance, if the feedback signal for the voltage input terminal below were only 3 7 V, the same slope would be created by entering the parameter pair settings F201-F202 and F203-F204 shown in Figure 10. Figure 10. Example of voltage scaling to compensate for feedback amplitude.

80 Hz F204 56 Hz F202 24 Hz 0 Hz 0V 0% 3V F201 30% 7V F203 70% 10 V 100%

PID Control Manual

Figure 11. Examples of feedback slopes.

F204 80 Hz

F204 80 Hz

F202 0 Hz

0V F201 0%

10 V F203 100%

F202 0 Hz

4 mA F201 20%

20 mA F203 100%

Example: V/I used as a Voltage Input Terminal

Example: V/I used as a Current Input Terminal

F213 80 Hz

F219 80 Hz

-10 V F211 0 Hz F217 0 Hz F216 -100%

10 V

0V F210 0%

10 V F212 100%

F218 100%

Example: RR Terminal Settings

Example: RX Terminal Settings

PID Control Manual

PID Control Parameter Summary

The PID-related ASD parameters are summarized in the table below. Table 3. PID control parameters. Parameter Number Parameter Name Adjustment Range
1: V/I 2: RR 3: RX 4: Not Used 5: EOI Keypad 6: RS485 7: Communications Option Board 8: RX2 (AI1) 9: Option V/I 10: UP/DOWN Frequency (terminal board) 11: Pulse Input (option) 12: Pulse Input (motor CPU) 13: Binary/BCD Input (option) 0.1 6000 sec. 0.1 6000 sec. 30.0 299.0 Hz 0.0 F011 Hz 0.00 F012 Hz 0: Constant Torque 1: Voltage Decrease slope 2: Automatic Torque Boost 3: Sensorless Vector Control (Speed) 4: Sensorless Vector Control (Speed/Torque) 5: V/I 5-Point slope 6: PM Drive 7: PG Vector Feedback Control (Speed) 8: PG Vector Feedback Control (Speed/ Torque) 0 100% 0.00 F011 Hz 0 100% 0.00 F011 Hz Same as F004 0 100% 0.00 F011 Hz 0 100% 0.00 F011 Hz 100% 0.00 F011 Hz 100% 0.00 F011 Hz

Default Setting

F004

Frequency Mode 1

2: RR

F009 F010 F011 F012 F013

Acceleration Time 1 Deceleration Time 1 Maximum Frequency Upper Limit Frequency Lower Limit Frequency

Typeform Specific Typeform Specific 80.0 60.0 0.00

F015

V/f Pattern

8: PG Vector Feedback Control

F201 F202 F203 F204 F207 F210 F211 F212 F213 F216 F217 F218 F219

V/I Input Point 1 Setting V/I Input Point 1 Frequency V/I Input Point 2 Setting V/I Input Point 2 Frequency Frequency Mode 2 RR Input Point 1 Setting RR Input Point 1 Frequency RR Input Point 2 Setting RR Input Point 2 Frequency RX Input Point 1 Setting RX Input Point 1 Frequency RX Input Point 2 Setting RX Input Point 2 Frequency

0 0.00 100 60.00 1 0 0.00 100 60.00 0 0.00 100 60.00

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Parameter Number
F240 F241 F242 F243 F270 F271 F272 F273 F274 F275

Parameter Name
Starting Frequency Run Frequency Run Frequency Hysteresis End Frequency Jump Frequency 1 Jump Frequency 1 Bandwidth Jump Frequency 2 Jump Frequency 2 Bandwidth Jump Frequency 3 Jump Frequency 3 Bandwidth

Adjustment Range
0.00 F011 Hz 0.00 F011 Hz 0.00 30.00 Hz 0.00 30.00 Hz 0.00 F011 Hz 0.00 30.00 Hz 0.00 F011 Hz 0.00 30.00 Hz 0.00 F011 Hz 0.00 30.00 Hz 0: PID Off 1: Process PID Control (Uses parameter limits F367, F368) 2: Speed PID Control (Uses parameter limits F370, F371) 3: Position PID Control 0: 1: 2: 3: 4: 5: 6: PID Control Disabled V/I RR RX RX2 (AI1) Option V/I PG Feedback Option

Default Setting
0.10 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00

F359

PID Control Switching

0: PID Off

F360

PID Feedback Signal

F361 F362 F363 F364 F365 F366 F367 F368 F369 F370 F371 F372 F373 F375 F376 F381 F466

PID Feedback Delay Filter PID Feedback Proportional (P) Gain PID Feedback Integral (I) Gain PID Deviation Upper Limit PID Deviation Lower Limit PID Feedback Differential (D) Gain Process Upper Limit Process Lower Limit PID Control Waiting Time PID Output Upper Limit PID Output Lower Limit Process Increasing Rate (Speed PID Control) Process Decreasing Rate (Speed PID Control) Number of PG Input Pulses Number of PG Input Phases Positioning Completion Range Speed PID Switching Frequency

0.0 25.0 0.01 100.00 0.01 100.00 F013 F012 Hz F013 F012 Hz 0.00 2.55 F013 F012 Hz F013 F012 Hz 0 2400 sec. F013 F012 Hz F013 F012 Hz 0.1 600.0 sec. 0.1 600.0 sec. 12 9999 1: Single Phase 2: Two Phase 1 4000 0.00 F011 Hz

0.1 0.10 0.10 60.00 60.00 0.00 60.00 0.00 0 60.00 4.00 10.0 10.0 ASD-dependent ASD-dependent 100 0.00

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Parameter Number

Parameter Name

Adjustment Range
0: Disabled 1: V/I 2: RR 3: RX 4: Not Used 5: EOI Keypad 6: RS485 7: Communications Option Board 8: RX2 (AI1) 9: Option V/I 10: UP/DOWN Frequency (terminal board) 11: Pulse Input (option) 12: Pulse Input (motor CPU) 13: Binary/BCD Input (option) 0: 1: 2: 3: 4: 5: Disabled V/I RR RX F729 Setting RX2 (AI1)

Default Setting

F660

Adding Input Selection Override

0: Disabled

F661

Multiplying Input Selection

0: Disabled

F702 F703 F729

Display Unit Multiplication Factor Display Unit Selection Panel Override Multiplication Gain

0.00 (Off) 200.00 0: All Frequencies 1: PID Process Data 100.00%

0.00 0: All Frequencies 0.00

Parameter Descriptions
F004 Frequency Mode 1 specifies the input source for the frequency command. F009 Acceleration Time sets the time in seconds for the output of the ASD to go from 0 Hz to Maximum Frequency. Note: Acceleration times shorter than the load will allow may cause nuisance tripping and mechanical stress to the loads.

F010 Deceleration Time sets the time in seconds for the output of the ASD to go from Maximum Frequency to 0 Hz. F011 Maximum Frequency sets the absolute maximum frequency that the ASD will output. Acceleration/deceleration times are calculated based on this value. F012 Upper Limit Frequency sets the highest frequency that the ASD will accept as a frequency command. The ASD may output frequencies higher than Upper Limit Frequency (but no higher than Maximum Frequency) when operating in PID Control, Torque Control, or Vector Control mode. F013 Lower Limit Frequency sets the lowest frequency that the ASD will accept as a frequency command. Under certain conditions the ASD may output frequencies lower than the Lower Limit Frequency.
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Accelerating from a stop. Decelerating to a stop. System is in PID Control, Torque Control, or Vector Control modes.
PID Control Manual

F015 V/f Pattern establishes the relationship between the output frequency and the output voltage. When using the Easy Position PID function set this parameter to 8 - PG Vector Feedback Control (Speed/Torque). F201, F203 V/I Input Point 1, 2 Setting set the two points that establish the V/I response slope. These two settings are entered as a percentage of F011. See Specify the Feedback Response on pg. 4. The use of F201 F204 is also explained in detail in the ASD Operation Manual. F202, F204 V/I Input Point 1, 2 Frequency set the corresponding frequencies to the V/I Input Point 1 and 2 settings. See Specify the Feedback Response on pg. 4. F210, F212 RR Input Point 1, 2 Setting set the two points that establish the RR response slope. These two settings are entered as a percentage of F011. See Specify the Feedback Response on pg. 4. The use of F210 F213 is also explained in detail in the ASD Operation Manual. F211, F213 RR Input Point 1, 2 Frequency set the corresponding frequencies for the RR Input Point 1 and 2 settings. See Specify the Feedback Response on pg. 4. F216, F218 RX Input Point 1, 2 Setting set the two points that establish the RX response slope. These two settings are entered as a percentage of F011. See Specify the Feedback Response on pg. 4. The use of F216 F219 is also explained in detail in the ASD Operation Manual. F217, F219 RX Input Point 1, 2 Frequency set the corresponding frequencies for the RX Input Point 1 and 2 settings. See Specify the Feedback Response on pg. 4. F240 Start Frequency sets the minimum motor speed during startup at which the ASD will begin to output the commanded frequency even if the command frequency is less than the Start Frequency. During the startup period from stopped until the Start Frequency is reached, the ASD does not output a command frequency. F241 Run Frequency sets the center run frequency for the motor. F242 Run Frequency Hysteresis sets a plus-or-minus bandwidth for the Run Frequency. See the ASD Operation Manual for details. F243 End Frequency sets the lowest frequency that an ASD will recognize before the ASD output drops to 0.0 Hz. F270, F272, F274 Jump Frequencies 1, 2, 3 are used in conjunction with the Jump Frequency Bandwidth. The Jump Frequency is the center frequency of a range specified by Jump Frequency Bandwidth. See the appropriate ASD Operation Manual for details of Jump Frequency processing. F271, F273, F275 Jump Frequency Bandwidths 1, 2, 3 sets a plus-or-minus bandwidth for the corresponding Jump Frequency. F359 PID Control Switching is used to set the PID control mode. It disables/enables PID feedback control. Set this parameter to enable PID and select the feedback source. 0: 1: 2: 3: PID Control Manual PID Off Process PID Speed PID Easy Positioning PID
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F360 PID Feedback Signal disables/enables PID feedback control. Set this parameter to enable PID and select the feedback source. 0: 1: 2: 3: 4: 5: 6: PID Control Disabled V/I RR RX RX2 (AII) Option V/I PG Feedback Option

F361 PID Feedback Delay Filter sets the delay in the ASD output response to the motor-control feedback signal source selected at F360. The delay filter in the feedback signal reduces process-induced high frequency changes in the feedback speed. F362 PID Feedback Proportional (P) Gain sets the degree that the Proportional (P) feedback affects the output signal. The larger the value, the quicker the ASD responds to changes in feedback. Setting the proportional gain excessively high may result in output over-correction and oscillation. Change in ASD Response with Change in Proportional Gain. (I and D settings held constant)

Output Frequency F362 = 1 Reference Process Value

F362 = 0.01

Time

F363 PID Feedback Integral (I) Gain sets the degree that the Integral (I) feedback affects the output signal. The smaller the value, the more pronounced the effect of the Integral feedback on the output signal. Integral gain determines how much the cumulative deviation (difference between the process value and the feedback value) affects the output signal. Although a larger gain setting is effective in reducing the residual deviation, setting the gain excessively high may result in output overcorrection and oscillation. Change in ASD Response with Changes in Integral Gain. (P and D settings held constant)
F363 = 1.0
0.5 0.3 0.01

Output Frequency

Reference Process Value

Time

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F364 PID Feedback Deviation Upper Limit sets the maximum amount that the feedback signal may increase the output signal. F365 PID Feedback Deviation Lower Limit sets the maximum amount that the feedback signal may decrease the output signals. F366 PID Feedback Differential (D) Gain sets the degree that the Differential (D) feedback affects the output signal. The larger the value, the more pronounced the effect of the Differential feedback on the output signal. The differential gain determines how much the rate of change of the deviation (difference between the process value and the feedback value) affects the output signal. The larger the value entered, the more pronounced the ASD response to changes in the feedback value. Setting the gain excessively high may result in output over-correction and oscillation. Change in ASD Response with Change in Differential Gain. (P and I gains held constant)
Deviation Change with Time (Previous Deviation - Current Deviation)

Output Frequency

Time

Large Differential Gain Small Differential Gain Time A constant deviation between the set point and the feedback will result in a constantly increasing output frequency. The larger the differential gain, the larger the initial output frequency jump.

F367 PID Feedback Process Upper Limit sets the Upper Limit when operating in Process PID mode. F368 PID Feedback Process Lower Limit sets the Lower Limit when operating in Process PID mode. F369 PID Control Wait Time delays the start of PID control at startup. After the wait time the ASD switches to the PID control setup. F370 PID Output Upper Limit sets the Upper Limit when operating in Speed PID mode. F371 PID Output Lower Limit sets the Lower Limit when operating in Speed PID mode. F372 Process Increasing Rate limits the rate at which the output of the ASD may increase for a given difference in the speed reference and the PID feedback value. F373 Process Decreasing Rate limits the rate at which the output of the ASD may decrease for a given difference in the speed reference and the PID feedback value. F375 Number of PG Input Pulses sets the end-of-travel range when using an encoder on a motordriven positioning system. F376 Number of PG Input Phases determines the type of information that is supplied by the phase encoder. F381 Positioning Completion Range sets the range of accuracy for a Stop command initiated from the terminal board when the ASD is in Simple Positioning PID mode. F466 Speed PID Switching Frequency sets the minimum threshold speed setting at which PID control may engage or remain engaged if active. PID Control Manual
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F660 Adding Input Selection enables or disables output frequency adjustment via an external source. If enabled, the selected input is used as a modifier of the programmed Output Frequency. F661 Multiplying Input Selection enables or disables output frequency adjustment via an external source. If enabled, the selected input is used as a multiplier of the programmed Output Frequency. F702 Display Unit Multiplication Factor provides the multiplier for the displayed frequency value on the EOI. For example: Given a multiplication factor of 0.5, an output frequency of 100 Hz would be displayed as 50. The multiplier allows the EOI to be used to display the rate at which a commodity is being processed by the system in process units per time. F703 Display Unit Selection is used in conjunction with F702 to define which frequency values displayed on the EOI will be affected by the Multiplication Factor (F702). All Frequencies - Only PID frequency-limiting parameters F364, F365, F367, and F368 ARE NOT affected by F702. PID Process Data - Only PID frequency-limiting parameters F364, F365, F367, and F368 ARE affected by F702.

F729 Panel Override Multiplication Gain provides a value to be used if the Multiplying Input Selection (F661) is set to 4 F729 Setting. Discrete Input/Output Terminals ASD discrete input terminals (F111 F118) and output terminals (F130 F132) have several PID-related parameters that can be programmed. See Table 4 and Table 5. Table 4. ASD Input/Output PID Terminal Functions. Parameter Setting for Normally Open
36 52 Input terminals 54 72 Output terminals 38

Parameter Setting for Normally Closed

37 53 55 73 39

Function
PID control OFF selection PID differentiation/integration reset PID forward/reverse switching Simple Positioning - Initiates a STOP command PID deviation limit

The PID signal can be monitored at the AM and FM terminals. Table 5. FM, AM, and Monitor Output Function Selection. Function
Operation frequency command value PID feedback value 1 13

FM / AM Output
Option No. Communication No. FD02 FD22 1 13

Monitor Output
Option No. Communication No. FE02 FE22

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INDUSTRIAL DIVISION
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