Mitsubishi Electric FR-A700-A1 Instruction Manual page 33

Dancer control detail
(2) PID position gain switchover (Pr. 138, Pr. 270 to Pr. 278)
Gain can be switched according to the deviation between dancer roll position signal (terminal 1 input (initial value)) and
desired set point.
Parameter
Number
Integral control presence/
138
absence
270 Dancer position A
271 Dancer position B
272 Dancer position C1
273 Dancer position C2
274 PID position gain A
275 PID position gain B
276 PID position gain C1
277 PID position gain C2
278 PID position gain D
Gain G
Gain A
Gain B
Gain C1
Gain C2
Gain D
Deviation
+100%
A
1

G  Kp(1+ + Td

Ti S

Value G of above calculation formula can be changed by the deviation of PID control input.
• Setting for gain
When 9999 is set to Pr. 274 to Pr. 278, gain is operated as 100%.
• Setting for deviation
To use this function, set other than 9999 to Pr. 272 and Pr. 273.
For Pr. 270 to Pr. 273, make the setting to satisfy A>C1
When C1=C2, larger gain between gain C1 and C2 becomes valid.
•Integral control selection
Whether to perform integral control or not when deviation is between C1 and C2 can be set by Pr. 138.
When no integral control is selected, integral value to that point is kept.
Pr. 138
0 (initial value)
1
2 Do not perform
3 Do not perform
30
Name
400.1% to 599.9%, 9999
400.1% to 599.9%, 9999
Deviation 0% Deviation
C1 C2

 S)
Above A Between A and C
Perform Perform
Perform Perform
Perform
Perform
Setting Range Increments
0 to 3
400.1% to 600%
400% to 599.9%
0.1 to 1000%, 9999
0.1 to 1000%, 9999
0.1 to 1000%, 9999
0.1 to 1000%, 9999
0.1 to 1000%, 9999
Deviation input
Deviation -100%
B
C2>B. Otherwise, write error occurs.

Between C1 and
C2
Perform
Do not perform
Perform
Do not perform
Initial
Value
1 0
0.1% 600
400%  -100%
0.1% 400
500% 
0.1% 9999
600%  100%
0.1% 9999
0.1% 9999
0.1% 9999
0.1% 9999
0.1% 9999
0.1% 9999
Between C2 and B
Perform
Perform
Perform
Perform
Remarks
0%
below B
Perform
Perform
Do not perform
Do not perform