Mitsubishi Electric FR-F820-00077 Instruction Manual page 548

(A) Application parameters
● From the vibration amplitude (Xc) and the vibration cycle (Tc), the threshold sensitivity (Ku) and
the threshold cycle (Tu) are calculated.
● Each constant is calculated using a formula depending on the Pr. 1218 setting, and PID gain tuning
is finished.
● After the integral term is cleared, PID control is performed with the constant to which the change
has been applied (the constant used before PID gain tuning when a fault occurs).
NOTES Confirm that the measured values are stable when performing PID gain tuning with the step
response method. When the measured values are unstable, the tuning result may not be accurate.
Accurate measurement of the maximum slope may not be achieved if the Pr. 1213 setting is small
in the step response method.
PID gain tuning operation setting (Pr. 1218)
Set the PID gain tuning operation in this parameter. The digit in the hundreds place represents the tar-
get PID loop. The digit in the tens place represents the tuning method. The digit in the ones place rep-
resents the control adjustment method.
Pr.1218 setting value
0 (initial value)
100
101
102
111
112
121
122
200
201
202
211
212
221
222
Tab. 5-181: Settings of Pr. 1218
5 - 376
Target PID Tuning method
PID gain tuning function disabled
Step response method
First PID
Limit cycle method (set-point
control)
Limit cycle method (follow-up
control)
Step response method
Second PID
Limit cycle method (set-point
control)
Limit cycle method (follow-up
control)
Parameters
Control adjustment method
P control adjustment
PI control adjustment
PID control adjustment
PI control adjustment
PID control adjustment
PI control adjustment
PID control adjustment
P control adjustment
PI control adjustment
PID control adjustment
PI control adjustment
PID control adjustment
PI control adjustment
PID control adjustment