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132 Powerdrive F300 User Guide
Issue Number: 2
If PID is used to control the motor output via Menu 1 and sleep mode is
enabled, then the drive will automatically stop the motor when the output
drops below the sleep/wake threshold. The feedback may then fall
causing the output and hence the feedback to rise again. Setting
Pr 14.028 and Pr 14.029 to non zero values results in the value in
Pr 14.028 being added to the PID reference for a length of time defined
in Pr 14.029 when the drive attempts to enter sleep mode.. This will
reduce the frequency of the transitions into sleep mode. Pr 14.030
indicates when the boost system is enabled.
Pr 14.058 allows scaling to be applied to the combined feedback signal
from PID controller 1 and PID controller 2 after the square root function
has been applied.
Single setpoint, single feedback (Pr 14.059 = 0 or 1)
The two PID controllers operate independently. The feedback for PID2 is
always from the PID2 feedback input. PID1 feedback can select one of
two sensors as shown in the table below.
Single setpoint, dual feedback (Pr 14.059 = 2 to 5)
PID1 feedback is from two sensors, which can be configured as shown
in the table below.
Dual setpoint, dual feedback (Pr 14.059 = 6 to 7)
When PID mode 6 or 7 is selected the controller operates in a dual zone
mode. In this mode the reference and feedback quantities from each PID
controller are used to calculate two controller errors. These two errors
are then checked and the zone with the larger or smaller absolute value
of error (depending upon mode selected) is used as the error signal to
the PID1 controller.
The square root functions in the feedback paths are enabled or disabled
with Pr 14.060, Pr 14.061 and Pr 14.062.
When the square root function is enabled, the following algorithm is
applied to the feedback.
Square root function output = Sign(Feedback) x 100.00% x
v(|Feedback| / 100.00%)
where Sign(Feedback) is 1 if the feedback is positive or -1 is the
feedback is negative.
Analog reference profile
14.025 PID 1 digital reference
14.055 PID 2 digital reference
RW Bi NC
Ú
±100.00 %
Ö
0.00
14.026 PID 1 digital feedback
14.055 PID 2 digital feedback
RW Bi NC
Ú
±100.00 %
Ö
0.00
14.027 PID 1 optional enable source parameter 2
RW Uni PT US
Ú
0.00 to 50.99
Ö
0.00
14.028 PID 1 pre-sleep boost level
RW Uni US
Ú
0.00 to 100.00 %
Ö
0.00
14.029 Maximum boost time
RW Uni US
Ú
0.0 to 250.0 s
Ö
0.0
14.030 PID 1 pre-sleep boost level enable
RO Bit NC PT
Ú
OFF (0) or On (1)
Ö
14.038 PID 2 enable
RW Uni US
Ú
0 to 2
Ö
0
Parameter
value
PID enable state
0
PID 2 disabled; output is zero and integrator reset to
zero
1 PID 2 enabled
2 PID 2 enable state follows PID 1 enable state
14.058 PID 1 feedback output scaling
RW Uni US
0.000 to 4.000 0.000
14.059 PID mode selector
RW Uni US
0 to 7 0
Parameter 14.059 Final PID1 feedback
0 PID1 feedback
1 PID2 feedback
Parameter 14.059 Final PID1 feedback
2 PID1 feedback + PID2 feedback
3 Lowest of PID1 feedback and PID2 feedback
4 Highest of PID1 feedback and PID2 feedback
5 (PID1 feedback + PID2 feedback) / 2
Parameter 14.059 PID1 Error
6 Lowest of |PID1 Error| or |PID2 Error|
7 Highest of |PID1 Error| or |PID2 Error|
14.060 PID 1 Square root enable
14.061 PID 2 Square root enable
RW Bit US
OFF (0) or On (1) OFF (0)
14.062 Combined PID square root enable
RW Uni US
OFF (0) or On (1) OFF (0)
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