ABB ACH550-UH User Manual page 156

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Code Description
4002 INTEGRATION TIME
Defines the PID controller's integration time.
Integration time is, by definition, the time required to increase the
output by the error value:
• Error value is constant and 100%.
• Gain = 1.
• Integration time of 1 second denotes that a 100% change is
achieved in 1 second.
0.0 = – Disables integration (I-part of controller).
NOT SEL
0.1...3600.0 – Integration time (seconds).
• See 4001 for adjustment procedure.
4003 DERIVATION TIME
Defines the PID controller's derivation time.
• You can add the derivative of the error to the PID controller
output. The derivative is the error value's rate of change. For
example, if the process error value changes linearly, the
derivative is a constant added to the PID controller output.
• The error-derivative is filtered with a 1-pole filter. The time
constant of the filter is defined by parameter 4004
.
FILTER
0.0...10.0 – Derivation time (seconds).
4004 PID DERIV FILTER
Defines the filter time constant for the error-derivative part of the PID controller output.
• Before being added to the PID controller output, the error-derivative is filtered with a 1-pole filter.
• Increasing the filter time smooths the error-derivative, reducing noise.
0.0...10.0 – Filter time constant (seconds).
4005 ERROR VALUE INV
Selects either a normal or inverted relationship between the feedback signal and the drive speed.
– Normal, a decrease in feedback signal increases drive speed. Error = Ref - Fbk
0 =
NO
1 = – Inverted, a decrease in feedback signal decreases drive speed. Error = Fbk - Ref
YES
4006 UNITS
Selects the unit for the PID controller actual values. (PID1 parameters 0128, 0130 and 0132).
• See parameter 3405 for list of available units.
Parameters
Group 40: Process PID Set 1
Range
0.0...3600.0 s
0.0...10.0 s
PID DERIV
0.0...10.0 s
0, 1
0...127
ACH550-UH User's Manual
Resolution Default
0.1 s 3.0 s
B
D (P 4001 = 10)
C (P 4001 = 1)
A = Error
B = Error value step
C = Controller output with Gain = 1
D = Controller output with Gain = 10
0.1 s 0.0 s
Error
100%
0%
PID output
D-part of controller output
Gain
P 4001
P 4003
0.1 s 1.0 s
1 0 (
NO
1 4 (%)
S
A
t
P 4002
Process error value
t
t
)