D-71
API Mnemonic Operands Function
141 FPID P S1, S2, S3, S4 PID control for the AC motor drive
Type
OP
Bit Devices Word devices Program Steps
X Y M K H KnX KnY KnM T C D FPID, FPIDP: 9 steps
S1
* *
*
S2
* *
*
S3
* *
*
S4
* *
*
Operands:
S1: PID Set Point Selection(0-4), S2: Proportional gain P (0-100), S3: Integral Time I (0-10000), S4:
Derivative control D (0-100)
Explanation:
1. This command FPID can control the PID parameters of the AC motor drive directly,
including Pr.10.00 PID set point selection, Pr.10.02 Proportional gain (P), Pr.10.03
Integral time (I) and Pr.10.04 Derivative control (D)
Program Example:
1. Assume that when M0=ON, S1 is set to 0 (PID function is disabled), S2=0, S3=1 (unit:
0.01 seconds) and S4=1 (unit: 0.01 seconds).
2. Assume that when M1=ON, S1 is set to 0 (PID function is disabled), S2=1 (unit: 0.01),
S3=0 and S4=0.
3. Assume that when M2=ON, S1 is set to 1(frequency is inputted by digital keypad), S2=1
(unit: 0.01), S3=0 and S4=0.
4. D1027: frequency command controlled by PID.
END
H0
M2
M1
M0
M1000
H1
H0
H0
H1
H1
H1 H1
H0 H0
H0 H0
FPID
MOV
D1027
D1
FPID
FPID
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