YASKAWA G7 Series Technical Manual page 321

PID Adjustment Methods
Use the following procedure to adjust PID while performing PID control and measuring the response waveform.
1. Set b5-01 (PID Control Mode Selection) to 1 or 2 (PID control enabled).
2. Increase b5-02 (Proportional Gain (P)) to within a range that does not vibrate.
3. Reduce b5-03 (Integral (I) time) to within a range that does not vibrate.
4. Increase b5-05 (Derivative (D) time) to within a range that does not vibrate.
PID Fine Adjustment Methods
This section explains the fine adjustment of PID after setting the PID control parameters.
Suppressing Overshoot
If overshoot occurs, reduce derivative time (D), and increase integral time (I).
Response
Set a Rapidly Stabilizing Control Condition
To rapidly stabilize the control even if overshoot occurs, reduce integral time (I), and lengthen derivative time (D).
Response
Suppressing Long-cycle Vibration
If vibration occurs with a longer cycle than the integral time (I) set value, the integral operation is too strong.
Lengthen the integral time (I) to suppress the vibration.
Response
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Before adjustment
After adjustment
Time
Before adjustment
After adjustment
Time
Before adjustment
After adjustment
Time
Individual Functions
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