+
-
x
+/-
+
PID Command (300EHex-03Hex)
(Dancer position set point)
PID Feedback (301FHex-14Hex)
(Dancer position feedback)
PID calcu
lation
Frequency
Reference
Speed command
(Main setting)
Fixed roll Fixed roll
Upper limit position
Reference position
Lower limit position
Dancer roll
F
Adjust the line speed with reference
to the position of the dancer roll
Inverter
Rotation speed control
Potentiometer, etc.
Position
information
ex. 0 to 10 V
Wind-up
machine
Lower Limit
(300EHex-14Hex)
Upper Limit
(300EHex-13Hex)
PID Operation
1. P operation (PID Control P Proportional Gain (300EHex-04Hex))
In this operation, the operation amount is proportional to the deviation (difference between the tar-
get value and the current value).
300EHex-04Hex
300EHex-04Hex
Target value
Control value
Step transition Ramp transition
Large
Small
Large
Small
2. I operation (PID Control I Integral Time (300EHex-05Hex))
In this operation, the operation amount is proportional to the time integral value of the deviation.
The P operation is less effective as the current value approaches the target value due to smaller
deviation, taking a long time to reach the target value. The I operation compensates this disadvant-
age.
300EHex-05Hex 300EHex-05Hex
Target value
Control value
Step transition Ramp transition
Large
Small
Large
Small
3. D operation (PID Control D Differential Time (300EHex-06Hex))
8 Other Functions
8-113
M1 Series EtherCAT Type User’s Manual (I670)
8-9 Other Operation Functions
8
8-9-13 PID Function
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