Sanken S06-4A005-B Instruction Manual page 137

F3016 PID1 control integral time (negative)
F3116 PID2 control integral time (negative)
The function to switch positive/negative proportional gain and integral time through the polarity of deviation.
● With the polarity of deviation, the switching of positive/negative proportional gain and integral time can be selected.
· F3012/F3112=1： The positive or negative deviation indicates the same gain
When deviation has no relationship with polarity, use F3003/F3103: proportional gain and F3004/F3104: integral time for
PID operation.
· F3012/F3112=2： The positive or negative deviation indicates different gains
The proportional gain and integral time used for operation are different according to the polarity of deviation.
When deviation ≥ 0 (positive)
Use F3003/F3103: proportional gain and F3004/F3104: integral time for PID operation.
When deviation < 0 (negative)
Use F3015/F3115: proportional gain (negative) and F3016/F3116: integral time (negative) for PID operation.
Note: In normal control system, same proportional gain and integral time will be normally used. But for system with
an obvious result of gain by positive/negative polarity, please try this function.
PID1
control integral separation judgment value
F3006
PID2
F3106
control integral separation judgment value
The function to invalid the integral according to the deviation value.
When the status change of the control system is large and large vibration or unstable has been caused by sharp increase of integral
output, please adjust this function.
● Set the judgment value for PID control integral separation
· F3006/F3106=5～100%: the rate to upper frequency limit.
Deviation between PID command value and PID feedback value: when the conditions specified by Fe have been satisfied,
the integral control is noneffective (separation).
Separation conditions are F3006/F3106: integral separation judgment value and upper frequency limit and deviation:
absolute value of Fe. The judgment will be as follows.
Conditions of integral separation: ∣Fe∣> upper frequency limit×F3006/F3106
【Start Mode of PID Control】
F3008 Indirect PID1 input reference
F3108 Indirect PID2 input reference
F3123 PID start mode selection
The function to select the input mode for PID control.
● The direct input mode and indirect input mode can be selected by selecting the function code.
· F3123=1: direct input mode...Normal PID control.
· F3123=2: Conditional input mode.
When the conditions specified by PID command value and PID feedback value are satisfied, the PID action will be started
by switching open loop control into PID control.
Start conditions are F3008/F3108: input reference and PID command target value: Ft and feedback value: Fb. The
judgment will be as follows.
PID start condition: Fb≧Ft×F3008/F3108
Control
value
Command target value Ft
Input reference value = Ft F3008/F3108
PID input start point
Open loop control
Feedback value Fb
PID control
- 136 -
Time