Mitsubishi Electric A800 Plus Series Function Manual page 89

Dancer feedback speed control details
Block diagram
First PID control gain
Pr.129, Pr.130, Pr.134
Second PID control gain
Pr.467 to Pr.469
Third PID control gain
Pr.473 to Pr.475
Fourth PID control gain
Pr.479 to Pr.481
First PID control gain
Pr.464 to Pr.466
Second PID control gain
Pr.470 to Pr.472
Third PID control gain
Pr.476 to Pr.478
Fourth PID control gain
Pr.482 to Pr.484
PID gain setting for negative deviations (values below set point) (Pr.464
to Pr.466)
• The PID gain can be set individually when the measured value (dancer feedback signal) has a negative deviation from the
set point. When the setting is 9999, settings in Pr.129, Pr.130, and Pr.134 are applied regardless of the polarity of
deviation.
Item
PID proportional band
PID integral time
PID differential time
Switchover to the second to fourth PID gain (Pr.464 to Pr.484, X120
signal, X121 signal)
• Use the PID gain switchover (X120/X121) signal to switch the PID gain.
• To assign the X120 signal, set "120" in any of Pr.178 to Pr.189 (input terminal function selection). To assign the X121
signal, set "121" in any of Pr.178 to Pr.189 (input terminal function selection).
Signal
PID control gain
X121 X120
OFF (First) PID control gain
OFF
ON Second PID control gain
OFF Third PID control gain
ON
ON Fourth PID control gain
∗1 As set in Pr.129, Pr.130, or Pr.134 respectively when "9999" is set.
∗2
When "9999" is set, the parameter setting for the first PID control gain (or the first PID control gain for values below set point) is applied. For
example, when Pr.468 = "9999", the PID integral time is as set in Pr.130, and the PID integral time for values below set point is as set in Pr.465.
∗3 When "9999" is set, the PID control gain for positive deviations is applied. For example, when Pr.478 = "9999" and Pr.475 ≠ "9999", the Pr.475
setting is applied to the both.
88
DANCER FEEDBACK SPEED CONTROL
X120-OFF X121-OFF
X120-ON
X120-OFF
X121-ON
X120-ON
X121-OFF
X120-OFF
X120-ON
X120-OFF
X121-ON
X120-ON
Parameter for PID control gain
Positive deviation
Pr.129
Pr.130
Pr.134
PID proportional band / PID
integral time / PID differential time
Pr.129/Pr.130/Pr.134
Pr.467/Pr.468/Pr.469
Pr.473/Pr.474/Pr.475
Pr.479/Pr.480/Pr.481
Tension PI gain tuning
Deviation 0
not performed
Deviation < 0
Tension PI gain
tuning result
Pr.129, Pr.130 Tension PI gain tuning
performed
Negative deviation
Pr.464 (Pr.129 when Pr.464 = "9999")
Pr.465 (Pr.130 when Pr.465 = "9999")
Pr.466 (Pr.134 when Pr.466 = "9999")
Parameter for PID control gain
integral time / PID differential time
Pr.464/Pr.465/Pr.466
Pr.470/Pr.471/Pr.472
∗2
Pr.476/Pr.477/Pr.478
∗2
Pr.482/Pr.483/Pr.484
∗2
PID control gain
PID proportional band / PID
(negative deviation)
∗1
∗3
∗3
∗3