Control Techniques unidrive sp User Manual

Menu 14
Parameter
structure
Keypad and
display
Parameter
x.00
Parameter
description format
Advanced parameter
descriptions
Macros
Serial comms
protocol
Electronic
nameplate
Performance
Feature look-
up table
220 Unidrive SP Advanced User Guide
www.controltechniques.com Issue Number: 7
Subject to the limits the PID controller output is given by
output = error x [P + I/s + Ds/(0.064s + 1)]
Where:
error = reference - feedback
P = proportional gain = Pr 14.10
I = integral gain = Pr 14.11
D = differential gain = Pr 14.12
Therefore with an error of 100% and P = 1.000 the output produced by the proportional term is 100%. With an error of 100% and I = 1.000 the output
produced by the integral term will increase linearly by 100% every second. With an error that is increasing by 100% per second and D = 1.000 the
output produced by the D term will be 100%.
This parameter defines the time taken for the reference input to ramp from 0 to 100.0% following a 0 to 100% step change in input.
14.01 PID output
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
21 1 1
Range
Open-loop, Closed-loop vector, Servo,
Regen
±100.00 %
Update rate 4ms write
14.02 PID main reference source
14.03 PID reference source
14.04 PID feedback source
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
2 1111
Range
Open-loop, Closed-loop vector, Servo,
Regen
Pr 0.00 to Pr 21.51
Default
Open-loop, Closed-loop vector, Servo,
Regen
Pr 0.00
Update rate Read on reset
14.05 PID reference source invert
14.06 PID feedback source invert
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default
Open-loop, Closed-loop vector, Servo,
Regen
0
Update rate 4ms read
14.07 PID reference slew rate limit
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1 111
Range
Open-loop, Closed-loop vector, Servo,
Regen
0.0 to 3,200.0 s
Default
Open-loop, Closed-loop vector, Servo,
Regen
0.0
Update rate Background read
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Control Techniques unidrive sp Specifications

General

Brand	Control Techniques
Model	unidrive sp
Category	Controller
Language	English