Derivative Control (D); Upper Limit Of Integral Control; Pid Output Frequency Limit; Pid Feedback Value By Communication Protocol - Delta C2000 series User Manual

Chapter 12 Description of Parameter SettingsC2000 Series
 When the integral time is too small, it may cause system oscillation.
 If the integral time is set as 0.00, Pr.08-02 will be disabled.

Derivative Control (D)


Settings
 The differential controller is used to show the change of system error and it is helpful to preview
the change of error. So the differential controller can be used to eliminate the error to improve
system state. With the suitable differential time, it can reduce overshoot and shorten adjustment
time. However, the differential operation will increase the noise interference. Please note that
too large differential will cause big noise interference. Besides, the differential shows the change
and the output of the differential will be 0 when there is no change. Therefore, the differential
control can't be used independently. It needs to be used with other two controllers to make a PD
controller or PID controller.
 This parameter can be used to set the gain of D controller to decide the response of error change.
The suitable differential time can reduce the overshoot of P and I controller to decrease the
oscillation and have a stable system. But too long differential time may cause system oscillation.
 The differential controller acts for the change of error and can't reduce the interference. It is not
recommended to use this function in the serious interference.

Upper limit of Integral Control


Settings
 This parameter defines an upper bound or limit for the integral gain (I) and therefore limits the
Master Frequency. The formula is: Integral upper bound = Maximum Output Frequency (Pr.01-00)
x (Pr.08-04 %).
 Too large integral value will make the slow response due to sudden load change. In this way, it
may cause motor stall or machine damage.

PID Output Frequency Limit


Settings
 This parameter defines the percentage of output frequency limit during the PID control. The formula
is Output Frequency Limit = Maximum Output Frequency (Pr.01-00) X Pr.08-05 %.


PID feedback value by communication protocol

Settings
PID Delay Time

Settings
0.00~1.00 sec
0.0~100.0%
0.0~110.0%
0.00~200.00%
0.0~35.0 sec
138
Factory Setting:0.00
Factory Setting:100.0
Factory Setting:100.0
Factory Setting: 0.00
Factory Setting: 0.0