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174 Unidrive SP Regen Installation Guide
www.controltechniques.com Issue Number: 2
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 mode Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
21 1 1
Range Regen ±100.00 %
Update rate 4ms
14.02 PID main reference source
14.03 PID reference source
14.04 PID feedback source
Drive mode Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
2 1111
Range Regen Pr 0.00 to Pr 21.51
Default Regen Pr 0.00
Update rate Background
14.05 PID reference source invert
14.06 PID feedback source invert
Drive mode Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Regen 0
Update rate 4ms
14.07 PID reference slew rate limit
Drive mode Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1 111
Range Regen 0.0 to 3,200.0 s
Default Regen 0.0
Update rate Background
14.08 PID enable
Drive mode Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default Regen 0
Update rate 4ms
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