Santerno Sinus Penta - Figure 29: Response to the Step Based on the Value of Ti When Kp Is Kept Constant

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PROGRAMMING GUIDE

SINUS PENTA

175/486

Figure 29: Response to the step based on the value of Ti when Kp is kept constant

The figure below represents the response of the PI regulator when the values for Kp and Ti are lower than the optimum

value computed with the method of Ziegler and Nichols.

Figure 30: Response to the step when the values of Kp and Ti are too small

Main Page

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 29: Response to the Step Based on the Value of Ti When Kp Is Kept Constant

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