Santerno Sinus Penta - Figure 27: Response to the Step Based on the Value of Kp When Ti Is Kept Constant

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PROGRAMMING GUIDE

SINUS PENTA

173/486

Figure 27: Response to the step based on the value of Kp when Ti is kept constant

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Default Chapter2
- Revision Index2
Table of Contents3
- Chapters3
- Figures8
- Tables9
- Scope of this Manual12
- How to Use this Manual12
1 Using the Display/Keypad Unit16
- Overview16
- Menu Tree17
- Figure 1: Menu Tree18
- Navigation19
- Parameter Modification20
- Programming the Root Page20
- Using the MENU Key21
- ESC Key22
- RESET Key (Alarm and Control Board Reset)23
- TX/RX Key (Download/Upload From/To the Keypad)23
- LOC/REM Key (Keypad24
- SAVE/ENTER Key24
- Indicator Leds on the Display/Keypad25
2 Description of Input and Output Signals26
3 References and Feedbacks27
- Main Speed/Torque Reference27
- Speed/Torque Limit Reference27
- PID Reference27
- PID Feedback Reference27
4 Programmable Functions28
- Multimotor28
- Voltage/Frequency Pattern28
- Slip Compensation28
- Speed Searching28
- Controlled Stop in Case of Power Failure (Power Down)28
- DC Braking28
- Motor Thermal Protection28
- Prohibit Speeds29
- Digital PID Regulator29
- Bridge Crane Application29
- Setting Two Alternative Command Sources and Reference Sources29
- Fire Mode30
5 Programming Examples31
- Overview31
- Programming a Reference31
- Configuring the External Torque Limit35
- Configuring the Feedback from Incremental Encoder36
- Configuring a Reference from Incremental Encoder37
6 Start-Up Menu38
- Overview38
7 First Startup40
- IFD" Control Algorithm40
- VTC" Control Algorithm42
- FOC" Control Algorithm46
8 Measures Menu50
- Overview50
- Motor Measures Menu51
- PID Regulator Menu56
- Digital Inputs Menu59
- Table 3: Coding of Measures M034, M03560
- References Menu61
- Outputs Menu65
- Table 8: Coding of Measure M06166
- Temperature Measures from PT100 Menu67
- Autodiagnostics Menu68
- Data Logger Measures Menu70
- Table 9: Data Logger Connection Status71
- Encoder Measures Menu72
- Digital Input Settings Menu73
- Fault List Menu74
- Table 11: Modbus Base Addresses in the Fault Lists75
- Power off List Menu76
- Table 13: List of the Measures in the Power off List77
9 Product Menu78
- Overview78
- List of Parameter P263 and Fire Mode Enable Password78
- Table 15: Indexes Corresponding to the Different Models (Sizes) of the Penta Drive79
- Table 17: Fan Control Modes80
10 Password and User Level Menu82
- Overview82
- List of Parameters P000 to P00382
11 Display/Keypad Menu84
- Overview84
- Root Page84
- Keypad Page and Local Mode85
- List of Parameters P264 to P269B86
- Table 21: Preset PID Units of Measure89
- Table 22: List of the Programmable Measurements for P268, P268A, P268B, P268C, P268D, P268E91
12 Ramps Menu93
- Overview93
- List of Parameters P009 to P03397
13 Inputs for References Menu105
- Processing Speed/Torque References105
- Figure 7: Speed Reference Computing106
- Figure 8: Torque Reference Computing107
- Scaling Analog Inputs REF, AIN1, AIN2108
- Figure 9: Computing Speed Analog Reference from Terminal Board: AIN1109
- Figure 10: Computing Inputs REF (1) and (2) (Examples)110
- Figure 11: Computing REF Input (Example 3)111
- List of Parameters P050 to P074A112
14 Multispeed Menu124
- Overview124
- List of Parameters P080 to P100124
15 Pid Multireferences Menu127
- Overview127
- List of Parameters P080A to P099A128
16 Multitorque Menu130
- Overview130
- List of Parameters P101 to P103130
17 Prohibit Speed Menu131
- Overview131
- List of Parameters P105 to P108132
18 Reference Variation Percent Menu133
- Overview133
- List of Parameters P115 to P121134
19 Speed Loop and Current Balancing Menu135
- Overview135
- Figure 15: Error Threshold Dual Parameterization Function (Example)136
- List of Parameters P125 to P153137
20 Foc Regulators Menu140
- Overview140
- List of Parameters P155 to P173140
21 Vtc Regulators Menu143
- Overview143
- List of Parameters P175H1 to P175W143
22 Analog and Frequency Outputs Menu147
- Overview147
- Variables150
- List of Parameters P176 to P215155
23 Timers Menu164
- Overview164
- Figure 23: Using Timers (Example)165
- List of Parameters P216 to P229166
- Table 44: Coding of P226: Timers Assigned to Digital Inputs MDI 1÷4168
24 Pid Parameters Menu170
- Overview170
- PID Regulator Tuning - Method of Ziegler and Nichols171
- Manual Tuning of the PI Regulator172
- Anti-Windup176
- List of Parameters P236 to P260177
- Figure 31: PID Sleep and Wake-Up Mode When P237A Is Set to 1179
25 Pid2 Parameters Menu185
- Overview185
- List of Parameters P436 to P460186
26 Digital Outputs Menu187
- Overview187
- Programmable Operating Modes (Diagrams)195
- Figure 34: ANALOG Mode196
- Figure 36: General Structure of the Parameterization of a Digital Output197
- Examples198
- Figure 37: Digital Output for Speed Thresholds (Example)199
- Figure 38: Electromechanical Brake Command (Example)200
- Table 54: MDO Parameterization for the PWM Function201
- Table 55: MDO Parameterization for the Ready State of a PLC Supervisor202
- List of Parameters P270 to P305203
27 Auxiliary Digital Outputs Menu217
- Overview217
- List of Parameters P306 to P317217
28 Measure Control from Pt100221
- Overview221
- List of Parameters P318 to P325221
29 Fieldbus Parameters Menu224
- Overview224
- List of Parameters P330 to P331224
- Table 60: List of the Programmable Measurements in P330 ÷ P331225
30 Virtual Digital Outputs (Mpl) Menu226
- Overview226
- Operating Diagram of the Virtual Digital Outputs232
- Table 63: MPL Parameterization for Dry Run Detection233
- Table 64: MPL Parameterization for Pipe Fill Function235
- List of Parameters P350 to P385236
31 Inputs for References from Optional Board250
- Scaling Analog Inputs XAIN4, XAIN5250
- List of Parameters P390 to P399251
32 Autotune Menu255
- Overview255
- List of Inputs I073 - I074258
33 Carrier Frequency Menu259
- Overview259
- List of Parameters C001 to C004261
34 Motor Configuration Menu263
- Overview263
- List of Parameters C008 to C128274
- Table 79: Equivalence between AC Mains Range and DC Range276
- Table 80: Word Bits for Address 1012, (1055, 1098)279
- Tables Including the Parameters Depending on the Drive Size289
35 Limits Menu301
- Overview301
- Figure 47: Current Limit Reduction Based on Carrier Frequency: Models with Ipeak Functionality302
- List of Parameters C043 to C135303
36 Control Method Menu306
- Overview306
- How to Manage the Reference Sources313
- List of Parameters C140 to C148315
37 Digital Inputs Menu318
- Overview318
- Factory-Setting of the Digital Inputs325
- List of Parameters C149 to C188C and I006326
- Figure 53: Controlling Run and Direction When the STOP Input Is Not Programmed330
- Figure 54: Controlling Run and Direction When the STOP Input Is Programmed331
- Table 99: Address 1154 Bits333
- Table 100: Multispeed Selection334
- Table 102: Multiramp Selection337
- Table 104: Motor Selection341
- Table 105: Selection of the Speed Reference Variation342
- Table 107: Multitorque Selection348
- Table 109: Selection of PID Multireferences349
38 Encoder/Frequency Inputs Menu350
- Overview350
- List of Parameters C189 to C199354
- Table 111: Coding of C189355
- Table 112: Coding of C199357
39 Braking and Ramp Extension Menu358
- Overview358
- List of Parameters C210 to C213D360
600 DC Braking Menu363
- Overview363
- List of Parameters C215 to C224369
41 Power down Menu372
- Overview372
- List of Parameters C225 to C235374
42 Speed Searching Menu378
- Overview378
- Figure 64: Speed Searching (Example 1)379
- Figure 65: Speed Searching (Example 2)380
- List of Parameters C245 to C250381
43 Autoreset Menu384
- Overview384
- List of Parameters C255 to C258384
44 Motor Thermal Protection Menu386
- Overview386
- Choosing the Characteristic Parameters387
- Thermal Protection Trip Delay390
- List of Parameters C264 to C274391
45 Maintenance Menu393
- Overview393
- List of Parameters C275 to C278393
46 Pid Configuration Menu394
- Overview394
- Operation and Structure of the PID Regulator394
- Figure 70: Reference Source and Feedback Source Selection395
- Figure 71: PID Ramp Reference396
- List of Parameters C285 to C294397
- Keeping Fluid Level Constant (Example)404
- Example of Compensation of Voltage Drop in a Filter407
  - Voltage Drop Compensation - Feedback from Single Analog Input407
  - Voltage Drop Compensation - Feedback from Two Analog Inputs408
47 Bridge Crane Menu409
- Overview409
- List of Parameters C300 to C303409
48 Date and Time Menu412
- Overview412
- List of Parameters C310 to C316415
49 Timed Flags Menu418
- Overview418
- Examples418
- List of Parameters from C330 to C357419
50 Serial Communications422
- Overview422
- Modbus-Rtu Protocol422
51 Serial Links Menu425
- Overview425
  - Watchdog Alarms425
- List of Parameters R001 to R013426
52 Fieldbus Configuration Menu429
- Overview429
  - Alarm A070 (Communication Suspended)429
- List of Parameters R016 to R018B and I080430
- Table 129: Word for Address 230431
- Exchanged Parameters433
  - From the Master to the Sinus Penta433
  - From the Sinus Penta to the Master437
53 Expansion Board Configuration Menu439
- Overview439
- List of Parameters R021 to R023439
54 Profidrive Board Configuration Menu440
- Overview440
- List of Parameters R025 to R045440
55 Daylight Saving Time443
- Overview443
- List of Parameters R050 to R053443
56 Data Logger Menu445
- Overview445
- List of Parameters R115 and R116445
- Table 134: Preset Connections446
57 Eeprom Menu447
- Overview447
- List of Inputs I009 to I013448
58 Alarms and Warnings450
- What Happens When a Protection Trips450
- What to Do When an Alarm Trips451
- Alarm List452
- List of the DRIVECOM Alarm Codes470
- Warnings472
- Warning List473
- State List474
59 Custom Parameters475
60 Index485

Santerno Sinus Penta - Figure 27: Response to the Step Based on the Value of Kp When Ti Is Kept Constant

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