PID Control Manual 6540

7/27/2019 PID Control Manual 6540

1/26

PID CONTROL MANUAL


2/26


3/26

PID Control

Manual

Document Number: 58695-000

Date: March, 2008


4/26

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 PIDcontrol. 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 NoticeThe 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 Toshibarepresentative.

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.


5/26

Contacting Toshibas CustomerSupport 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/.
http://www.toshiba.com/ind/http://www.toshiba.com/ind/http://www.toshiba.com/ind/http://www.toshiba.com/ind/


6/26

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

[email protected].

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 maintenancepersonnel. 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 referencesappearing 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.
mailto:[email protected]:[email protected]


7/26

Table of Contents

PID Control Manual i

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 ............................................ 7Display the Process and Feedback Values ................................................................... 7

Scaling the Analog Input Signal................................................................................... 8

PID Control Parameter Summary............... .............. ............... ............ ............... .......... 10

Parameter Descriptions .............................................................................................. 12


8/26

ii PID Control Manual


9/26

PID Control Manual 1

System Control Using PIDPID 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. PID Off Disables the PID feedback.

2. 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.

3. 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.

4. Simple Position PID Monitors the load position (e.g., crane, sprayer, etc.) as the measurementthat is to be compared to the setpoint in determining the ASD output adjustment. See Figure 3.

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.

Figure 2. Diagram for F359 = Speed PID.

ProcessReferenceValue

Process Upper LimitF367

PID ControlJump Frequency

ProcessingIncrease/

Decrease Rate

Acceleration Time 1 - F009Deceleration Time 1 - F010

F368Process Lower Limit

PID DeviationUpper Limit

F364

F365PID DeviationLower Limit

PID OutputUpper Limit

F370

F371PID OutputLower Limit

Upper LimitFrequency

F012

F013Lower Limit

Frequency

Feedback Signal

Process Upper LimitF367

PID Control Jump FrequencyProcessing

ProcessIncrease/

Decrease Rate

ProcessIncrease Rate - F372Decrease Rate - F373

F368Process Lower Limit

PID DeviationUpper Limit

F364

F365PID Deviation

Lower Limit

PID OutputUpper Limit

F370

F371PID Output

Lower Limit

Upper LimitFrequency

F012

F013Lower Limit

Frequency

Feedback Signal

DelayFilterF361

SpeedReferenceValue


10/26

2 PID Control Manual

Figure 3. Diagram for F359 = Position PID.

Process/Speed PID Control

Select the PID ModeSelect 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 ValueSelect 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 F360 = V/I Input F011 = 80.0 Hz F012 = 80.0 Hz

F201 = 20% F202 = 0 Hz F203 = 100% F204 = 80 HzF210 = 0% F211 = 0 V F212 = 100% F213 = 10 V

PID Control

Position CompletionRangeF381

F381

PositionCompletion Range

Feedback Signal

PositionReferenceValue


11/26


Figure 4. Process reference set with external signal.

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.

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.

Feedback Value (4 20 mA) Process Value (0 10 V)Operation Frequency Command

Value (0 80 Hz)

4 0 0

8 2.5 20

12 5.0 40

16 7.5 60

20 10 80

Sensor Range:

IICC

V/I

CC

RR

U

V

W

R

ST

M

sensorPressure

Pump

P

3-Phase Input

Process feedback

DC: 4 20 mA

Process reference value

DC: 5 V (0 10 V)

Desired process

value: 15 psi

10 - 20 psi

20 psi

10 psi

15 psi

10 psi

20 psi

Process feedbackProcess feedback Process reference value Process reference value

(converted into frequency) (converted into frequency)

80 Hz 80 Hz

40 Hz

0 Hz0 Hz

4 mA 20 mA 4 mA 20 mA 0 V 10 V 0 V 10 V5 V


12/26


Specify the Feedback ResponseFor 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.

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

F203F201

4 mA 20 mA0 Hz

80 Hz

20% 100%

F204

80 HzF202

0 Hz4 mA

F20120%

20 mA

F203100%

F204


13/26


Example: Invert the Response Slope Using an External Switch.

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

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.

Figure 9. External switch on S3.

Table 1. Parameter settings for slope polarity switching output.

Parameter

NumberParameter Name

Selectable Functions

RangeSetting

F117 Input Terminal 7 (S3) 0 131 54 - PID Positive/Negative Slope Switching

Parameter

NumberParameter Name Setting

F117 Input Terminal Function - S3 54

F201 V/I Input Point 1 Setting 20

F202 V/I Input Point 1 Frequency 0

F203 V/I Input Point 2 Setting 100

F204 V/I Input Point 2 Frequency 80

100%20%

4 mA 20 mA

80 Hz

0 Hz

Open between S3 and CC

Closed between S3 and CC

(Set SW 301 to Current)

DC: 0 10 VExternal analog set point

Feedback signalDC: 4 20 mA

IICC

V/I

CC

S3

External discrete input to S3

V/I Feedback


14/26


Set the Limit ParametersSet the high-low limit parameters. Some parameters are mode specific, as indicated in the following

table.

Table 1. Limit parameters applicability.

Set the PID Gain ParametersSet 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 ControlSimple 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.

Limit Parameters Process PID Speed PID

F364, F365 PID Deviation Upper and Lower Limit YES YES

F368, F367 Process Upper and Lower Limit YES YES

F370, F371 PID Output Upper and Lower Limit YES YES

F012, F013 Upper and Lower Limit Frequency YES YES

F011 Maximum Frequency YES YES

F009, F010 Acceleration and Deceleration Time YES NO

F372, F373 Process Increasing and Decreasing Rate NO YES

F361 Delay Filter NO YES

Parameters Function Setting

F015 V/f Control Mode Selection

7: PG Vector Feedback Control

or

8: PG Vector Feedback Control

F240 Start Frequency 0.00

F241 Operating Frequency 0.00

F243 End Frequency 0.00

F359 PID Control Switching 3: Position PID Control

F360 PID Control Feedback Selection 6: PG Feedback Option

F362 Proportional Gain 0.01 100.00

F363 Integral Gain 0.01 100.00


15/26


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 forPID 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-polemotor.

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.

F375 Number of PG Input Pulses 12 9999

F376 Number of PG Input Poles 2

F381 Simple Positioning Completion Range 100

F111-F118 (any one) Simple Positioning 72

Parameters Function Setting


16/26


Scaling the Analog Input SignalAny 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.

F204

F202

F203F201

7 V3 V

56 Hz

24 Hz

70%30%

0 V

0%

10 V

100%

0 Hz

80 Hz


17/26


Figure 11. Examples of feedback slopes.

F204

F202

Example: V/I used as a Voltage Input Terminal

F203F201

10 V0 V

80 Hz

0 Hz

100%0%

F213

F211

Example: RR Terminal Settings

F212F210

10 V0 V

80 Hz

0 Hz

100%0%

F204

F202

Example: V/I used as a Current Input Terminal

F203F201

20 mA4 mA

80 Hz

0 Hz

100%20%

F219

F217

Example: RX Terminal Settings

F218F216

10 V-10 V

80 Hz

0 Hz

100%-100%


18/26


PID Control Parameter SummaryThe PID-related ASD parameters are summarized in the table below.

Table 3. PID control parameters.

ParameterNumber

Parameter Name Adjustment Range Default Setting

F004 Frequency Mode 1

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)

2: RR

F009 Acceleration Time 1 0.1 6000 sec.Typeform

Specific

F010 Deceleration Time 1 0.1 6000 sec.Typeform

Specific

F011 Maximum Frequency 30.0 299.0 Hz 80.0

F012 Upper Limit Frequency 0.0 F011 Hz 60.0

F013 Lower Limit Frequency 0.00 F012 Hz 0.00

F015 V/f Pattern

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)

8: PG Vector

Feedback Control

F201 V/I Input Point 1 Setting 0 100% 0

F202 V/I Input Point 1 Frequency 0.00 F011 Hz 0.00

F203 V/I Input Point 2 Setting 0 100% 100

F204 V/I Input Point 2 Frequency 0.00 F011 Hz 60.00

F207 Frequency Mode 2 Same as F004 1

F210 RR Input Point 1 Setting 0 100% 0

F211 RR Input Point 1 Frequency 0.00 F011 Hz 0.00

F212 RR Input Point 2 Setting 0 100% 100

F213 RR Input Point 2 Frequency 0.00 F011 Hz 60.00

F216 RX Input Point 1 Setting 100% 0

F217 RX Input Point 1 Frequency 0.00 F011 Hz 0.00

F218 RX Input Point 2 Setting 100% 100

F219 RX Input Point 2 Frequency 0.00 F011 Hz 60.00


19/26


F240 Starting Frequency 0.00 F011 Hz 0.10

F241 Run Frequency 0.00 F011 Hz 0.00

F242 Run Frequency Hysteresis 0.00 30.00 Hz 0.00

F243 End Frequency 0.00 30.00 Hz 0.00F270 Jump Frequency 1 0.00 F011 Hz 0.00

F271 Jump Frequency 1 Bandwidth 0.00 30.00 Hz 0.00

F272 Jump Frequency 2 0.00 F011 Hz 0.00


F274 Jump Frequency 3 0.00 F011 Hz 0.00


F359 PID Control Switching

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: PID Off

F360 PID Feedback Signal

0: PID Control Disabled

1: V/I

2: RR

3: RX

4: RX2 (AI1)

5: Option V/I

6: PG Feedback Option

0

F361 PID Feedback Delay Filter 0.0 25.0 0.1

F362 PID Feedback Proportional (P) Gain 0.01 100.00 0.10

F363 PID Feedback Integral (I) Gain 0.01 100.00 0.10

F364 PID Deviation Upper Limit F013 F012 Hz 60.00

F365 PID Deviation Lower Limit F013 F012 Hz 60.00F366 PID Feedback Differential (D) Gain 0.00 2.55 0.00

F367 Process Upper Limit F013 F012 Hz 60.00

F368 Process Lower Limit F013 F012 Hz 0.00

F369 PID Control Waiting Time 0 2400 sec. 0

F370 PID Output Upper Limit F013 F012 Hz 60.00

F371 PID Output Lower Limit F013 F012 Hz 4.00

F372Process Increasing Rate (Speed PID

Control)0.1 600.0 sec. 10.0

F373Process Decreasing Rate (Speed PID

Control)0.1 600.0 sec. 10.0

F375 Number of PG Input Pulses 12 9999 ASD-dependent

F376 Number of PG Input Phases1: Single Phase

2: Two PhaseASD-dependent

F381 Positioning Completion Range 1 4000 100

F466 Speed PID Switching Frequency 0.00 F011 Hz 0.00

Parameter

NumberParameter Name Adjustment Range Default Setting


20/26


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 thanMaximum 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.

Accelerating from a stop.

Decelerating to a stop.

System is in PID Control, Torque Control, or Vector Control modes.

F660 Adding Input Selection Override

0: Disabled

1: V/I

2: RR

3: RX

4: Not Used5: 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: Disabled

F661 Multiplying Input Selection

0: Disabled

1: V/I

2: RR

3: RX

4: F729 Setting

5: RX2 (AI1)

0: Disabled

F702 Display Unit Multiplication Factor 0.00 (Off) 200.00 0.00

F703 Display Unit Selection0: All Frequencies

1: PID Process Data0: All Frequencies

F729 Panel Override Multiplication Gain 100.00% 0.00

Parameter

NumberParameter Name Adjustment Range Default Setting


21/26


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



F211, F213 RR Input Point 1, 2 Frequency set the corresponding frequencies for the RR Input Point


F216, F218 RX Input Point 1, 2 Setting set the two points that establish the RX response slope. These



F217, F219 RX Input Point 1, 2 Frequency set the corresponding frequencies for the RX Input Point


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 Manualfor 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 ofJump 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: PID Off

1: Process PID

2: Speed PID

3: Easy Positioning PID


22/26


F360 PID Feedback Signal disables/enables PID feedback control. Set this parameter to enable PID

and select the feedback source.

0: PID Control Disabled

1: V/I

2: RR

3: RX

4: RX2 (AII)

5: Option V/I

6: 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)

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 over-

correction and oscillation.

Change in ASD Response with Changes in Integral Gain. (P and D settings held constant)

Reference Process ValueF362 = 1

F362 = 0.01

Output Frequency

Time

Reference Process Value

F363 =

0.3

Output Frequency

Time

0.5

1.0

0.01


23/26


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)

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 motor-driven 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.

(Previous Deviation

Output Frequency

Time

Time

Large Differential Gain

Small Differential Gain

- Current Deviation)

Deviation Change with 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.


24/26


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 valueon 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.

The PID signal can be monitored at the AM and FM terminals.

Table 5. FM, AM, and Monitor Output Function Selection.

Parameter Setting for

Normally Open

Parameter Setting for

Normally ClosedFunction

Input terminals

36 37 PID control OFF selection

52 53 PID differentiation/integration reset

54 55 PID forward/reverse switching

72 73Simple Positioning - Initiates a STOP

command

Output terminals 38 39 PID deviation limit

Function FM / AM Output Monitor Output

Option No. Communication No. Option No. Communication No.

Operation frequency command value 1 FD02 1 FE02

PID feedback value 13 FD22 13 FE22


25/26


26/26

INDUSTRIAL DIVISION13131 West Little York Road, Houston, Texas 77041

Tel 713/466-0277 Fax 713/937-9349

US 800/231-1412 Canada 800/872-2192 Mexico 01/800/527-1204

www.toshiba.com/ind

Printed in the U.S.A.

PID Control Manual 6540

Documents

Transcript of PID Control Manual 6540