Name: Emerson M200-01200024A10101AB100
Brand: Emerson
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Menu 14 − User PID Controller

Mode: Open‑loop

PID controller

One general purpose PID controller is provided as shown in the diagram below. The sample rate for the PID controller is always 4ms.

Unidrive M200 Parameter Reference Guide

Issue: 01.05.00.10

203

Parameter MM.0003
Possible Failures3
Saving Drive Parameters4
Loading Defaults5
Current Ratings6
110V Rated Drives6
200V Rated Drives6
400V Rated Drives7
575V Rated Drives7
690V Rated Drives8
Variable Minimum / Maximum Pairs9
VM AC Voltage9
VM AC Voltage Set9
VM Accel Rate / VM DC Voltage9
VM DC Voltage Set10
VM Drive Current10
VM Freq10
VM MAX Switching Frequency10
VM Motor 1/2 Curent Limit11
VM Negative REF Clamp1/211
VM Positive REF Clamp12
VM Power12
VM Rated Current12
VM Speed Freq Ref / VM Speed Freq Ref Unipolar12
VM Speed Freq User Refs13
VM Supply Loss Level13
VM Torque Current13
VM Torque Current Unipolar13
VM User Current14
Menu 1 Single Line Descriptions − Frequency References15
Reference Select16
Pre-Filter Reference Select17
Pre-Ramp Reference Select17
Reference Selected17
Pre-Skip Filter Reference17
Pre-Ramp Reference18
Reference Offset18
Jog Reference18
Maximum Speed/Minimum Speed18
Negative Reference Clamp Enable19
Reference Offset Select19
Bipolar Reference Enable19
Reference On/Reverse Select/Jog Select19
Reference Selector20
Preset Selector21
Preset Selector Timer21
Keypad Control Mode Reference21
Preset Reference 1/221
Preset Reference 3 - 822
Skip Reference 1 - 323
Skip Reference Band 1 - 323
Reference from an Analog Input24
Reference in Rejection Zone24
Analog Reference 1/224
Percentage Trim25
Reference Select Flag 1 - 325
Preset Select Flag 1/225
Preset Select Flag 326
Preset Selector Timer Reset26
Reference Selected Indicator26
Preset Selected Indicator/Power-Up Keypad Control Mode Reference26
Force Reference Direction27
Reference in Rpm27
Clamped Reference27
Alternative Reference/Alternative Reference Enable27
Menu 2 Single Line Descriptions − Frequency Ramps28
Accelertion Rate Selection29
Deceleration Rate Selection30
Ramp System31
Fast Ramp32
Standard Ramp32
Standard Ramp with Motor Voltage Boost32
Standard Ramp Controller32
S Ramp Enable33
Max Rate of Change of Acceleration33
Linear and S Ramps Graphs34
Standard Ramp Voltage35
Deceleration Fail Detection Disable35
Acceleration Rate Selector35
Acceleration Rate 1 - 436
Acceleration Rate 5 - 837
Jog Acceleration Rate37
Deceleration Rate Selector37
Deceleration Rate 1 - 438
Deceleration Rate 5 - 839
Jog Deceleration Rate39
Acceleration Rate Selected39
Deceleration Rate Selected40
Acceleration Rate Select Bit 0 - 240
Deceleration Rate Select Bit 0 - 140
Deceleration Rate Select Bit 241
Ramp Rate Units41
S Ramp Percentage41
S Ramp Set-Up Mode42
Maximum Rate of Change of Acceleration 142
Maximum Rate of Change of Acceleration 2 - 443
Single Line Descriptions - Frequency Monitoring and Speed Feedback44
Final Demand Reference45
Zero Frequency Threshold45
At Frequency Lower Limit/At Frequency Upper Limit46
Over Frequency Threshold46
Absolute at Frequency Select46
Hard Frequency Reference/Hard Frequency Reference Select/Position46
Position Counter Reset47
Position Scaling Numerator47
Position Scaling Denominator47
Frequency Output or PWM Output Scaling48
Maximum Output Frequency48
Frequency Input High Precision/Maximum Reference Frequency48
Frequency Reference Scaling/Frequency Reference48
Two Point Minimum Frequency49
Drive Reference at Minimum Frequency49
Two Point Maximum Frequency49
Drive Reference at Maximum Frequency/Motor Speed Percent49
Menu 4 Single Line Descriptions − Torque and Current Control51
Common Functions for Motor Control Modes52
Menu 4 − Torque and Current Control52
Open-Loop Mode53
Current Limit Operation54
Torque Control54
Supply Loss and Standard Ramp54
Current Magnitude/Torque Producing Current54
Final Torque Reference55
Final Current Reference55
Motoring Current Limit55
Regenerating Current Limit55
Symmetrical Current Limit56
Torque Reference/Torque Mode Selector56
Current Controller Kp Gain/Current Controller Ki Gain56
Motor Thermal Time Constant 156
Time for Motor Protection Accumulator to Reach 100%58
Motor Protection Accumulator Reset58
Motor Protection Accumulator Warning59
Thermal Protection Mode59
Drive Thermal Monitoring Current Limiting59
Current Limiting on Motor Overload59
Magnetising Current60
Final Current Limit60
Motor Protection Accumulator60
Percentage Load/User Current Maximum Scaling60
Low Frequency Thermal Protection Mode61
Percentage Torque61
Motor Protection Accumulator Power-Up Value61
User over Current Trip Level61
Menu 5 Single Line Descriptions − Motor Control62
Output Frequency63
Menu 5 − Motor Control63
Output Voltage/Output Power64
Motor Rpm64
D.C. Link Voltage64
Motor Rated Frequency64
Motor Rated Current65
Motor Rated Speed65
Motor Rated Voltage65
Motor Rated Power Factor66
Number of Motor Poles66
Auto-Tune66
Dynamic V to F Select67
Open-Loop Voltage Mode67
Fixed Boost Frequency to Voltage Characteristic68
Square Fixed Boost Frequency to Voltage Characteristic69
Low Frequency Voltage Boost70
Stator Resistance70
Maximum Switching Frequency71
High Stability Space Vector Modulation71
Over Modulation Enable72
Transient Inductance72
Stator Inductance72
Slip Compensation Level72
Flux Control Compensation Disable73
Voltage Controller Gain73
Torque Per Amp73
Slip Compensation Limit/Auto-Switching Frequency Change Disable73
Slip Compensation Filter74
Switching Frequency74
Minimum Switching Frequency74
Spin Start Boost/Reverse Output Phase Sequence75
Maximum Deadtime Compensation75
Current at Maximum Deadtime Compensation75
Disable Deadtime Compensation/Boost End Voltage75
Boost End Frequency76
Second Point Voltage/Second Point Frequency76
Third Point Voltage/Third Point Frequency76
Low Acoustic Noise Enable76
Change to Maximum Drive Switching Frequency at Low Output Current77
Voltage Shelving Disable77
Low Frequency Torque Adjustment77
Ur Mode Pre-Flux Delay78
Menu 6 Single Line Descriptions − Sequencer and Clock79
Menu 6 − Sequencer and Clock82
Enable Logic83
Sequencer Logic84
Stop Mode85
Definition of Logic Symbols for Sequencer Logic Diagrams85
Limit Switch Stop Mode86
Supply Loss Mode86
Start/Stop Logic Select86
Injection Braking Level87
Injection Braking Time87
Hold Zero Frequency87
Catch a Spinning Motor/Enable Conditions87
Sequencer State Machine Inputs88
Enable Stop Key88
Enable Auxiliary Key88
Disable Auto Reset on Enable89
Drive Enable89
Date89
Time/Day of Week89
Date/Time Selector90
Date Format90
Time between Filter Changes90
Filter Change Required / Change Done90
Time before Filter Change Due91
Reset Energy Meter91
Energy Meter: Mwh/Energy Meter: Kwh/Energy Cost Per Kwh91
Running Cost/Hardware Enable91
Run Forward/Jog Forward/Run Reverse92
Forward/Reverse92
Run92
Forward Limit Switch92
Reverse Limit Switch93
Jog Reverse93
User Enable93
Not Stop/Enable Sequencer Latching/Drive Event Flags93
Control Word94
Control Word Enable94
Cooling Fan Control94
Input Phase Loss Detection Mode95
Supply Loss Detection Level95
Hold Supply Loss Active95
Motor Pre-Heat Current Magnitude/Output Phase Loss Detection Time95
Output Phase Loss Detection Enable96
Standby Mode Enable96
Standby Mode Mask96
Slow Rectifier Charge Rate Enable/Braking IGBT Lower Threshold96
Braking IGBT Upper Threshold97
Low Voltage Braking IGBT Threshold97
Low Voltage Braking IGBT Threshold Select97
Low DC Link Operation97
UTC Offset98
DC Injection Active98
Menu 7 Single Line Descriptions − Analog I/O99
Menu 7 − Analog I/O100
Analog Input 1101
Drive Temperature Monitoring101
Analog Input 2102
Stack Temperature102
Auxiliary Temperature102
Analog Input 1 Mode102
Analog Input 1 Scaling103
Analog Input 1 Invert103
Analog Input 1 Destination a103
Analog Input 2 Mode103
Analog Input 2 Scaling/Analog Input 2 Invert104
Analog Input 2 Destination a104
Analog Output 1 Source A/Analog Output 1 Scaling104
Analog Input 1 Preset on Current Loss104
Analog Input 1 Current Loop Loss/Analog Input 1 Offset105
Analog Input 2 Offset/Inverter Temperature105
Percentage of D.C. Link Thermal Trip Level105
Percentage of Drive Thermal Trip Level105
Temperature Nearest to Trip Level106
Thermistor Type106
Thermistor Feedback/Thermistor Trip Threshold106
Thermistor Reset Threshold/Thermistor Temperature106
Analog Input 1 Control107
Analog Input 2 Control107
Analog Output 1 Control107
Analog Input 1 Minimum Reference108
Analog Input 1 at Minimum Reference109
Analog Input 1 Maximum Reference109
Analog Input 1 at Maximum Reference/Analog Input 2 Minimum Reference110
Analog Input 2 at Minimum Reference110
Analog Input 2 Maximum Reference110
Analog Input 2 at Maximum Reference/Analog Input 1 Destination B110
Analog Input 2 Destination B111
Analog Output 1 Source B111
Menu 8 Single Line Descriptions − Digital I/O112
Menu 8 − Digital I/O113
Digital I/O 1 State114
Digital I/O 2 State114
Digital Input 3 State114
Digital Input 4 State/Digital Input 5 State114
Relay 1 Output State115
Digital I/O 1 Invert115
Digital I/O 2 Invert115
Digital Input 3 Invert/Digital Input 4 Invert/Digital Input 5 Invert115
Relay 1 Invert/Digital I/O Read Word116
Digital IO1 Source/Destination a116
Digital IO2 Source/Destination a116
Digital Input 03 Destination A/Digital Input 04 Destination a116
Digital Input 05 Destination a117
Relay 1 Output Source a117
Digital I/O 01 Mode/Digital Input 5 Mode117
Keypad Run Button State/Keypad Auxiliary Button State117
24V Supply Input State/Keypad Stop Button State118
Keypad Run Button Invert/Toggle118
Keypad Auxiliary Button Invert/Toggle118
24V Supply Input Invert118
Keypad Auxiliary Button Destination119
24V Supply Input Destination119
DI1 Control119
DI2 Control/Di3 Control119
DI4 Control/Di5 Control/Do1 Control120
Relay 1 Control120
DI/O 01 Source/Destination B120
DI/O 02 Source/Destination B120
DI 03 Destination B121
DI 04 Destination B121
DI 05 Destination B121
Relay 01 Source B121
Menu 9 Single Line Descriptions − User Functions 1122
Menu 9 − User Functions 1123
Logic Functions124
Logic Function Delay125
Motorised Pot126
Binary Sum127
Timers128
Logic Function 1 Output129
Logic Function 2 Output129
Motorised Pot Output129
Logic Function 1 Source 1129
Logic Function 1 Source 1 Invert130
Logic Function 1 Source 2130
Logic Function 1 Source 2 Invert130
Logic Function 1 Output Invert/Logic Function 1 Delay130
Logic Function 1 Destination131
Logic Function 2 Source 1131
Logic Function 2 Source 1 Invert131
Logic Function 2 Source 2131
Logic Function 2 Source 2 Invert132
Logic Function 2 Output Invert132
Logic Function 2 Delay132
Logic Function 2 Destination133
Motorised Pot Mode133
Motorised Pot Bipolar Select133
Motorised Pot Rate/Motorised Pot Scaling133
Motorised Pot Destination134
Motorised Pot Up/Motorised Pot down134
Motorised Pot Reset134
Binary Sum Ones/Binary Sum Twos134
Binary Sum Fours135
Binary Sum Output135
Binary Sum Destination135
Binary Sum Offset136
Timer 1 Start Date136
Timer 1 Start Time136
Timer 1 Stop Date/Timer 1 Stop Time136
Timer 1 Repeat Function137
Timer 1 Enable137
Timer 1 Invert137
Timer 1 Output138
Timer 1 Destination138
Timer 2 Start Date138
Timer 2 Start Time/Timer 2 Stop Date138
Timer 2 Stop Time139
Timer 2 Repeat Function139
Timer 2 Enable139
Timer 2 Invert/Timer 2 Output139
Timer 2 Destination140
Menu 10 Single Line Descriptions − Status and Trips141
Menu 10 − Status and Trips144
Status and Trip System145
Drive Healthy/Drive Active/Zero Frequency146
Running at or below Minimum Frequency146
Below Set Frequency146
At Frequency146
Above Set Frequency147
Rated Load Reached147
Current Limit Active147
Regenerating/Braking IGBT Active/Braking Resistor Alarm147
Reverse Direction Commanded148
Reverse Direction Running148
Supply Loss148
Under Voltage Active/Motor Overload Alarm/Drive Over-Temperature Alarm148
Drive Warning149
Trip 0149
Trip Descriptions156
Braking Resistor Rated Power157
Braking Resistor Thermal Time Constant158
External Trip158
Drive Reset158
Number of Auto-Reset Attempts158
Auto-Reset Delay159
Auto-Reset Hold Drive Healthy159
Action on Trip Detection159
User Trip160
Braking Resistor Thermal Accumulator160
Status Word160
Trip 0 Date160
Trip 0 Time161
Trip 1 Date161
Trip 1 Time161
Trip 2 Date/Trip 2 Time/Trip 3 Date161
Trip 3 Time162
Trip 4 Date162
Trip 4 Time162
Trip 5 Date/Trip 5 Time/Trip 6 Date162
Trip 6 Time163
Trip 7 Date163
Trip 7 Time163
Trip 8 Date/Trip 8 Time/Trip 9 Date163
Trip 9 Time/Braking Resistor Resistance164
Remote Keypad Battery Low/Auto-Tune Active164
Limit Switch Active164
Hold Drive Healthy on under Voltage164
Additional Status Bits165
Trip 0 Sub-Trip Number165
Trip 1 Sub-Trip Number165
Trip 2 Sub-Trip Number/Trip 3 Sub-Trip Number165
Trip 4 Sub-Trip Number166
Trip 5 Sub-Trip Number166
Trip 6 Sub-Trip Number/Trip 7 Sub-Trip Number166
Trip 8 Sub-Trip Number/Trip 9 Sub-Trip Number/Stop Motor166
Phase Loss167
Drive Ready167
Drive Status167
Trip Reset Source/Trip Time Identifier167
Active Alarm168
Potential Drive Damage Conditions168
Low AC Alarm168
Reversed Cooling Fan Detected168
Menu 11 Single Line Descriptions − Miscellaneous170
Menu 11 − Miscellaneous173
Status Mode Parameter 1/Status Mode Parameter 2173
Reset Serial Communications173
Customer Defined Scaling/Active Parameter at Power-Up173
Serial Address174
Serial Mode174
Serial Baud Rate174
Minimum Comms Transmit Delay175
Silent Period175
Drive Derivative175
Software Version176
User Security Code176
User Drive Mode176
Maximum Heavy Duty Rating/Drive Rated Voltage176
Drive Configuration177
Power Software Version177
NV Media Card File Previously Loaded178
NV Media Card File Number178
NV Media Card File Type178
NV Media Card File Version178
Parameter Cloning179
Load Defaults179
User Security Status180
Security Can be Set up as Follows180
When Security Is Set up and Locked180
Security Can be Unlocked as Follows180
Select Motor 2 Parameters181
Defaults Previously Loaded181
Onboard User Program: Enable181
Onboard User Program: Status181
Onboard User Program: Programming Events182
Onboard User Program: Freewheelingtasks Per Second182
Onboard User Program: Clock Task Time Used182
Serial Number Ls/Serial Number MS182
Drive Date Code183
Onboard User Program: Clock Task Schedule Rate183
Maximum Rated Current183
Full Scale Current Kc/Product Type183
Product Identifier Characters184
Frame Size and Voltage Code184
Power Stage Identifier184
Control Board Identifier185
Drive Current Rating185
Core Parameter Database Version185
NV Media Card Create Special File/Nv Card Type Fitted186
NV Media Card Read-Only Flag186
NV Media Card Warning Suppression Flag186
NV Media Card File Required Version186
Drive Name Characters 1-4187
Drive Name Characters 5-8187
Drive Name Characters 9-12187
Drive Name Characters 13-16/Drive Mode187
Security Status188
Menu Access Status188
Additional Identifier Characters 1188
Additional Identifier Characters 2188
Additional Identifier Characters 3189
Disable String Mode189
AI ID Code189
24V Loss Alarm Enable/Modbus Parameter Conversion189
Menu 12 Single Line Descriptions − User Functions 2/Brake Control191
Threshold Detector 1 Output192
Threshold Detector 2 Output192
Threshold Detector 1 Source192
Threshold Detector 1 Level192
Threshold Detector 1 Hysteresis193
Threshold Detector 1 Output Invert193
Threshold Detector 1 Destination193
Variable Selector 1 Source 1193
Variable Selector 1 Source 2194
Variable Selector 1 Mode194
Variable Selector 1 Destination194
Variable Selector 1 Output/Variable Selector 1 Source 1 Scaling194
Variable Selector 1 Source 2 Scaling195
Variable Selector 1 Control195
Variable Selector 1 Enable195
Threshold Detector 2 Source195
Variable Selector 2 Source 1196
Variable Selector 2 Output196
Variable Selector 2 Source 1 Scaling196
Variable Selector 2 Source 2 Scaling196
Variable Selector 2 Control197
Variable Selector 2 Enable197
Current Detection198
Frequency Detection198
Brake Release198
Brake Controller Sequence198
BC Enable199
Applying the Brake as the Frequency Passes through Zero199
Forced Initial Direction199
BC Initial Direction201
BC Brake Apply through Zero Threshold201
Menu 14 Single Line Descriptions − User PID Controller202
PID References203
Menu 14 − User PID Controller203
PID Feedback204
PID Controller204
PID1 Output205
PID1 Feed-Forward Reference Source205
PID1 Reference Source205
PID1 Feedback Source205
PID1 Reference Invert206
PID1 Feedback Invert206
PID1 Reference Slew Rate206
PID1 Enable206
PID1 Differential Gain207
PID1 Output Upper Limit207
PID1 Output Lower Limit207
PID1 Symmetrical Limit Enable207
PID1 Feed-Forward Reference208
PID1 Reference208
PID1 Feedback208
PID1 Error/Pid1 Reference Scaling/Pid1 Digital Reference208
PID1 Digital Feedback209
PID1 Enable Source 2209
Menu 18 Single Line Descriptions − Application Menu 1210
General Option Module Application Menus211
Application Menu 1 Power-Down Save Integer211
Application Menu 1 Read-Only Integer 2 - 5211
Application Menu 1 Read-Only Integer 6 - 10212
Application Menu 1 Read-Write Integer 11 - 12212
Application Menu 1 Read-Write Integer 13 - 19213
Application Menu 1 Read-Write Integer 20 - 26214
Application Menu 1 Read-Write Integer 27 - 30215
Application Menu 1 Read-Write Bit 31 - 33215
Application Menu 1 Read-Write Bit 34 - 40216
Application Menu 1 Read-Write Bit 41 - 47217
Application Menu 1 Read-Write Bit 48 - 50218
Menu 20 Single Line Descriptions − Application Menu 2219
Application Menu 3 Read-Write Long Integer 21 - 26220
Application Menu 3 Read-Write Long Integer 27 - 30221
Menu 21 Single Line Descriptions − Motor 2 Parameters222
M2 Maximum Speed223
M2 Minimum Speed223
M2 Reference Selector223
M2 Acceleration Rate 1224
M2 Deceleration Rate 1224
M2 Motor Rated Frequency224
M2 Motor Rated Current/M2 Motor Rated Speed224
M2 Motor Rated Voltage225
M2 Motor Rated Power Factor225
M2 Number of Motor Poles225
M2 Stator Resistance/M2 Transient Inductance225
Motor 2 Active/M2 Motor Thermal Time Constant 1226
M2 Current Controller Kp Gain226
M2 Current Controller Ki Gain/M2 Stator Inductance226
M2 Motoring Current Limit226
M2 Regenerating Current Limit227
M2 Symmetrical Current Limit227
M2 Low Frequency Thermal Protection Mode227
Menu 22 Single Line Descriptions − Menu 0 Setup228
Menu 22 − Menu 0 Setup231
Parameter 00.011 - 00.16 Set-Up231
Parameter 00.017 - 00.23 Set-Up232
Trips242
Trip Categories and Priorities242
Trips Summary (Numerical Order)245
Trips (Alphabetical Order)248
Differences When Compared to the Derivative Product Image279

Emerson M200-01200024A10101AB100 Parameter Reference Guide

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Brand	Emerson
Model	M200-01200024A10101AB100
Category	Controller
Language	English