YASKAWA V1000 Technical Manual page 134

5.2 b: Application
n b5-01: PID Function Setting
Enables or disables the PID operation and selects the PID operation mode.
No.
b5-01
Setting 0: PID disabled
Setting 1: Output Frequency = PID Output 1
The PID controller is enabled and the PID output builds the frequency reference. The PID input is D controlled.
Setting 2: Output Frequency = PID Output 2
The PID controller is enabled and the PID output builds the frequency reference. The PID feedback is D controlled.
Setting 3: Output Frequency = Frequency Reference + PID Output 1
The PID controller is enabled and the PID output is added to the frequency reference. D control is applied to the difference
of the feedback value (U5-02) and the setpoint.
Setting 4: Output Frequency = Frequency Reference + PID Output 2
The PID controller is enabled and the PID output is added to the frequency reference. Applies D control on the feedback
value (U5-06).
n b5-02: Proportional Gain Setting (P)
Sets the P gain that is applied to the PID input. A large value will tend to reduce the error, but may cause instability
(oscillations) if too high. A small value may allow too much offset between the setpoint and feedback.
No.
b5-02
n b5-03: Integral Time Setting (I)
Sets the time constant that is used to calculate the integral of the PID input. The smaller the integral time set to b5-03, the
faster the offset will be eliminated. If set too short, it can cause overshoot or oscillations. To turn off the integral time, set
b5-03 = 0.00.
No.
b5-03
PID
feedback
n b5-04: Integral Limit Setting
Sets the maximum output possible from the integral block. Set as a percentage of the maximum frequency (E1-04).
No.
b5-04
Note: On some applications, especially those with rapidly varying loads, the output of the PID function may show a fair amount of oscillation.
To suppress this oscillation, a limit can be applied to the integral output by programming b5-04.
n b5-05: Derivative Time (D)
Sets the time the drive predicts the PID input/PID feedback signal based on the derivative of the PID input/PID feedback.
Longer time settings will improve the response but can cause vibrations. Shorter settings will reduce the overshoot but
also reduce the controller responsiveness. D control is disabled by setting b5-05 to zero seconds.
134
Parameter Name
PID Function Setting
Name
Proportional Gain Setting (P)
Name
Integral Time Setting (I)
No Intregral
Setpoint
Offset
Feedback
Time
Figure 5.18 Offset Elimination by Integral Operation
Name
Integral Limit Setting
YASKAWA ELECTRIC SIEP C710606 16C YASKAWA AC Drive – V1000 Technical Manual
Setting Range
0 to 4
Setting Range
0.00 to 25.00
Setting Range
0.0 to 360.0 s
With Intregral
Setpoint
Feedback
Time
Setting Range
0.0 to 100.0
Default
0
Default
1.00
Default
1.0 s
Zero
offset with
integral action
Default
100.0