106 ACS 400 User’s Manual
Group 40: PID Control
The PID Control Macro allows the ACS 400 to take a reference signal (setpoint) and an actual
signal (feedback), and automatically adjust the speed of the drive to match the actual signal to the
reference.
There exist two PID parameter sets (group 40 for set 1 parameters and group 41 for set 2
parameters). Normally only set 1 parameters are used. Set 2 parameters can be taken in use by
parameter 4016
PID PARAM SET. Selection between parameter sets can be done eg. through a
digital input.
PID sleep function can be used to stop the regulation when the output of the PID controller falls
below preset limit. Regulation is resumed when the process actual value falls below the preset limit.
Alternatively, sleep function can be activated and deactivated through a digital input.
CROSSREF shows the connections of internal signals when the PID Control macro is selected.
Code Description
4001 PID GAIN
This parameter defines the gain of the PID Controller. The setting range is 0.1... 100.
If you select 1, a 10 % change in error value causes the PID Controller output to change by 10 %.
4002 PID INTEG TIME
PID controller integration time. Defined as the time in which the maximum output is achieved if a constant
error value exists and the gain is 1. Integration time 1 s denotes that a 100 % change is achieved in 1 s.
4003 PID DERIV TIME
PID controller derivation time. If the process error value changes linearly, D part adds a constant value into
the PID controller output. The derivative is filtered with a 1-pole filter. The time constant of the filter is
defined by parameter 4004
PID DERIV FILTER.
PID integration time
Gain
Gain
t
t
100 %
Gain
Process Error Value
PID derivation time
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