Configuration - Drive
9-107
9
iControl DC
PID - Start (relevel) Enabled/Disabled by the Start Gain (relevel) Options selection.
Used for gearless machines with problems releveling into the floor to apply higher gains during
releveling. Please refer to “Motor Control Adjustments (System 12 SCR Drive)” on page 4-24.
• Proportional: If the car has problems releveling into the floor, set equal to or greater than
Standard Proportional. After the car has stabilized at leveling speed, this value will
decrease to the Standard value.
• Integral: Adjust after adjusting Proportional Error above. If the car has problems relevel-
ing into the floor, set equal to or greater than Standard Integral. After the car has stabi-
lized at leveling speed, this value will decrease to the Standard value. Excessive values may
cause oscillation.
• Differential: Adjust after adjusting Integral Error above. If the car has problems releveling
into the floor, set equal to or greater than Standard Differential. After the car has stabilized
at leveling speed, this value will decrease to the Standard value.
• Transition Time: Determines the transition time from Start (Relevel) to Standard gain set-
tings. Default is 1.0 seconds.
Current - Continuous Current loop.
• Proportional: Increase for faster current response from the SCR System 12 drive. Exces-
sive gain can introduce oscillation.
• Integral: Increase to provide tighter current control. Excessively high gains can cause
overshoot or oscillation. Excessively low gains can cause sloppy current response.
Current - Discontinuous Discontinuous Current loop.
• Proportional: Applied to the current loop when output current is close to zero. For higher
power drives, a setting greater than 1.5 may cause fuses to blow. On the System 12 drive,
potentially affected fuses are FL1 through FL6.
• Integral: Applied to the current loop when output current is close to zero. For higher
power drives, a setting greater than 1.5 may cause fuses to blow. On the System 12 drive,
potentially affected fuses are FL1 through FL6.
Miscellaneous
• Error Compensation: Feed-forward gain. Increase to provide better tracking speed regula-
tion. Excessive values may result in oscillation. May also be adjusted to help with a “spot-
ting” problem. This is a key parameter for accurate tracking. Please refer to “Error
Compensation” on page 2-66.
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