6-23
gentlineandtimeaxis and the point ofintersectionofthetangentlineand setpoint
line.
Response
Target value
Time
S PID Parameter
The following PID parameters arecalculatedfromthe R, L, andT ofintersection of
the tangent line and set point line as general rules.
Control Proportional (P) gain
(n130)
Integral (I) time
(n131)
Derivative (D) time
(n132)
P control 0.3/RL --- ---
PI control 0.35/RL 1.2T ---
PID control 0.6/RL T 0.5L
Note 1. Obtain PID parameter values fromthe above method,set the PIDparameters,
and tune in the PID parameter values precisely.
Note 2. PID parameter values obtained from the above method may not be optimum if
thefrictionfactorofthemechanicalsystemislargeortherigidityofthemechan-
ical system is low.
H Manual PID Adjustments
·PerformthefollowingproceduretoadjustthePIDparametervaluesoftheInverterper-
forming PID control by monitoring the response waveform.
1. Connect the load in the same way as the connection of the load to the Inverter in
normal operation.
2. Set n128 so that the Inverter will perform PID control.
3. Increase the proportional (P) gain in n130 within a range causing no vibration.
Advanced Operation Chapter 6
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