YASKAWA Varispeed G7 Instruction Manual page 316

PID Input Methods
Enable PID control using constant b5-01, and set the PID target value and PID feedback value.
PID Target Value Input Methods
Select the PID control target value input method according to the setting in b1-01 (Reference Selection).
Normally, the frequency reference selected in b1-01 is the PID target value, but you can also set the PID target
value as shown in the following table.
PID Target Input Method
Multi-Function Analog Ter-
minal A2, or A3 Input
MEMOBUS register 0006H
Pulse train input
PID Feedback Input Methods
Select one of the following PID control feedback input methods.
Input Method
Multi-function analog input
Pulse train input
INFO
PID Adjustment Methods
Use the following procedure to adjust PID while performing PID control and measuring the response wave-
form.
1. Set b5-01 (PID Control Method 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.
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Set H3-05 or H3-09 to C (PID target value). Also, be sure to set H6-01 (pulse train input
function selection) to 1 (PID feedback value).
The negative inputs cannot be used for target values.
Set MEMOBUS bit 1 in register address 000FH to 1 (enable/disable PID target value
from communications) to be able to use register number 0006H as the PID target value.
Set H6-01 to 2 (PID target value).
Set H3-09 (Multi-function Analog Input Terminal A2 Selection) or H3-05 (Multi-func-
tion Analog Input Terminal A3 Function Selection) to B (PID feedback).
Set H6-01 to 1 (PID feedback).
Adjust PID target value and PID feedback value using the following items.
• Analog input: Adjust using the analog input terminal gain and bias.
• Pulse train input: Adjust using pulse train scaling, pulse train input gain, and pulse train input bias.
Setting Conditions
Setting Conditions