6.2.2 Dancer control using PID control block
FRENIC Multi is able to perform dancer control by using the PID control block, as shown in figure 1. This control
structure is used for example in winding applications.
Figure 6.1. Dancer control.
To use this type of control block J01 has to be programmed to value 3. Also the signal sources for the main speed
reference (primary speed command), for the dancer position feedback and the dancer position reference have to be
programmed. In this example we will use as the signal source for the primary speed command a 0-10 V analogue
signal connected to terminal 12; furthermore we will use as signal source for the dancer position feedback a 0-10 V
analogue signal connected to terminal C1/V2 (configured in voltage mode). For the dancer reference (set point)
position we will use function J57. The main functions to be programmed are described in table 4.
Function Value Description
J01 3 Activates the dancer control
F01 1 Selection of the source for the primary speed command the signal connected to input 12.
J02 0 Selection of the source signal for the dancer reference position (PID command) to the value of
function J57. Check that digital inputs are not programmed with functions SS4 or SS8.
J57 50 Set up the value for the dancer reference position (programmed in percentage).
E63 5 Selection of signal connected to input C1/V2 (used in voltage mode) for the dancer feedback position.
J62 (bit 0) 0 Select the polarity of the output signal of the PID process.
J62 (bit 1) 1 Select the output of the PID process as a ratio of the primary speed command.
J03 *1 PID control P gain.
J04 *1 PID control I time (in s).
J10 *1 Anti reset windup function threshold (in percentage).
J18 *1 Upper limit of PID process output.
J19 *1 Lower limit of PID process output.
C35 *1 Polarity of the frequency command. 0: Bipolar; 1: Unipolar.
*1. The value of the function depends on the application.
Table 6.4. Functions values for PID dancer control.
PID control can be used regardless of the value of function F02 (operation method). A complex frequency
command can be generated by adding more than one signal source, depending on the configuration of functions
E61, E62 and E63. For more information about these functions and PID dancer control refer to chapter 4, section
4.6, “PID control block”, of FRENIC Multi User’s Manual (MEH457).
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