YASKAWA F7 Programming Manual page 27

Derivative - D
Overshoot refers to a control loop tendency to overcompensate for an error condition, causing a new error in the opposite direction.
Derivative action provides an anticipatory function that exerts a "braking" action on the control loop. When combined, the proportional
integral, and derivative actions provide quick response to error, close adherence to the setpoint, and control stability.
The analog feedback to the Drive for the PID control is via the A2 or A3 terminal. Set parameter H3-09 or H3-05 to "B: PID
Feedback" to use terminal A2 or A3, respectively, as feedback for the PID functionality of the Drive. To use the analog input
terminal A2 or A3 as the PID setpoint, set parameter H3-09 or H3-05 to "C: PID Setpoint," respectively. The PID setpoint can
be configured to come from one of many different inputs or parameters. The table below describes the options for originating
the PID setpoint.
FWD or REV Jog multi-function input closed
PID Disable multi-function input closed
Frequency Reference
B1-01 = 4
PID Accel/Decel Time
Pulse Input
3
2
Option Card
1
0
Communication
Terminal A1/A2
PID Setpoint
D1-01
D1-02
PID Setpoint
D1-03
.
.
.
Terminal A2/A3
D1-17
Pulse Input
Memobus Register 0006H
PID Setpoint
PID Feedback
Pulse Input
H6-02 = 1
PID Feedback
Terminal A2/A3
H3-05/H3-09
= B
PID D Time
+
-
-1
z
b5-01 PID Function Setting
Setting
0 Disabled (factory default)
1 D = Feedback
2 D = Feed-Forward
3 Frequency Reference + PID Output (D = Feedback)
4 Frequency Reference +PID Output (D = Feed-Forward)
The Drive can be used as a stand-alone PID controller. If PID functionality is selected by parameter b5-01, the Drive will adjust
its output to cause the feedback from a transmitter to match the PID setpoint (b5-19). To enable PID control, set b5-01 to 1, 2, 3,
or 4 according to the application.
B5-01 = 0
B5-17
True
PID SFS
False
Cancel multi-
function input
closed
B5-19
B5-18 = 1
H3-05/H3-09 = C
H6-02 = 2
Memobus register
000FH bit 1 = 1
U1-38
PID Setpoint
U1-36
U1-24
PID Input
PID P Gain
+
+
-
B5-02
+
-1
Input Level
B5-01 = 2,4
Select multi-
B5-05
function input
B5-01 =
closed
1,3
Description
Fmax x 110%
B5-01 = 3,4 B5-11 = 0
+
+
B5-11 = 1
B5-01 =
1,2
Fmax x 110%
-Fmax x 110%
PID I Time
1
B5-03
PID Integral
Hold multi-
function input
closed
+
-
-1
z
Fig. 16 PID Block Diagram
Programming 19
True
Frequency
Reference
False
Upper Limit:
B5-04
B5-06
PID I Limit
PID Limit
+
+
+
+
+
PID Integral
Reset multi-
-1
z
function input
closed
PID D Time
B5-01 = 1,3
B5-05
B5-01 = 2,4
U1-37
PID Output
B5-10
PID Output Gain
+
B5-07
PID Offset
+
-1
B5-09 = 0
B5-09 = 1
PID Delay
Time
+ +
1
B5-08
-
+
z -1