Configuration Mode (ConF)
"Manual - Automatic" Operation with PID
This function com bines the PID regulator, the preset speeds and a m anual reference. Depending on the state
of the logic input, the speed reference is given by the pres et s peeds or by a m anual reference input via the
PID function.
Manual reference [Manual reference] (
PIM
):
•
Analog inputs AI1 to AI3
•
Puls e input
Predictive speed reference [Speed ref. assign.] (
FPI
):
•
[AI1]
(AI1):
Analog input
•
[AI2]
(AI2):
Analog input
•
[AI3]
(AI3):
Analog input
•
[RP]
(PI): Pulse input
•
[HMI]
(LCC)
:
Graphic display term inal or rem ote display term inal
•
[Modbus]
(Mdb): Integrated Modbus
•
[CANopen]
(CAn): Integrated CANopen®
•
[Com. card]
(nEt): Com m unication card (if inserted)
Setting up the PID regulator
1. Configuration in PID mode.
See the diagram on page 206.
2. Perform a test in factory settings mode.
To optim ize the drive, adjus t
[PID p
r
op. g
a
in
]
(
rPG
) or
[PID in
tegral
g
a
in]
(
rI
G) gradually and
independently, and observe the effect on the PID feedback in relation to the reference.
3. If the factory settings are unstable or the reference is incorrect.
•
Perform a tes t with a s peed reference in Manual m ode (without PID regulator) and with the drive on load
for the speed range of the s ystem :
- In steady s tate, the s peed m ust be stable and comply with the reference, and the PID feedback signal
m us t be stable.
- In transient s tate, the speed m ust follow the ram p and stabilize quickly, and the PID feedback m ust
follow the s peed. If this is not the cas e, s ee the settings for the drive and/or s ensor s ignal and wiring.
•
Switch to PID m ode.
•
Set
[Dec ramp adapt.]
(brA)
to
[No]
(nO) (no auto-adaptation of the ram p).
•
Set
[PID ramp]
(PrP) to the m inim um perm itted by the m echanism without triggering an
[Overbraking]
(ObF).
•
Set the integral gain
[PID integral gain]
(
rI
G) to m inim um.
•
Leave the derivative gain
[PID derivative gain]
(rdG)
at 0.
•
Obs erve the PID feedback and the reference.
•
Switch the drive ON/OFF a num ber of tim es or vary the load or reference rapidly a num ber of tim es.
•
Set the proportional gain
[PID prop. gain]
(rPG) in order to as certain the com prom is e between res pons e
tim e and s tability in transient phas es (s light overs hoot and 1 to 2 os cillations before s tabilizing).
•
If the reference varies from the pres et value in steady s tate, gradually increas e the integral gain
[PID integral gain]
(rIG),
reduce the proportional gain
[PID prop. gain]
(rPG) in the event of instability
(pum p applications), find a com prom ise between response tim e and s tatic precision (see diagram).
•
Lastly, the derivative gain m ay perm it the overs hoot to be reduced and the response tim e to be im proved,
although this will be m ore difficult to obtain a com prom ise in term s of s tability, as it depends on 3 gains.
•
Perform in-production tes ts over the whole reference range.
Parameters described in this page can be accessed by:
DRI- > CONF > FULL > FUN- > PID-
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