ARTDrive V2 series - Instruction Manual Chapter 7 Appendix • 341
Select PID inp FF src = Ramp out mon
Connect to the speed reference 1 the PID output
Select Speed ref 1 src = PID out mon
Set Ramp out enable = Disable
Connect to the analog input 3 the tension reference.
Select PID draw src = An inp 3 output
Connect to the Digital input 1 the input enabling the PID PI Block
Select PID PI enab src = DI 1 monitor
Connect to the Digital input 2 the input enabling the PID PD Block
Select PID PD enab src = DI 2 monitor
In case just one contact is needed to enable the PI and PD section, it is
possible to connect also PID PD enab src on the digital input 1 as described
below.
Select PID PD enab src = DI 1 monitor
7.5.6.3 Parameters
Set Full scale spd equal to the motor maximum speed.
Full scale spd = 3000 rpm
Connect
Mlt PI sel 0 = Null
Mlt PI sel 1 = One
The selection of the PID Mlt PI sel 1 multiplier is therefore active.
Set
PID Mlt PI sel 1 = 1 The starting value is 1
Without any correction on the side of the regulator PI Block, the reference of
the line speed (Feed-forward) has to be multiplied by 1 and sent directly to
the Drive speed regulator.
Set PI lim top and PI lim bot in order to obtain a maximum correction of the
PI Block equal to 100% of the line speed.
The PI lim top and PI lim bot parameters can be considered, respectively,
as a maximum and minimum multiplicative factor of the feed-forward.
PI lim top = 1
PI lim bot = 0
With this application the regulator carries out a proportional-integral control.
The gains of the different components have to be set, experimentally, with a
loaded machine; such tests can be started with the values below (default
values):
Set PI P1 gain % = 4%
Set PI I1 gain % = 4%
Set PD P1 gain % = 1%
Use the derivative component as a system “damping” element, by setting for
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