4-177
PID Limit(10-23)
Used to limit the output of the PID control. Maximum output frequency is 100%.
PID Output gain(10-24)
Used to adjust the compensation. Use parameter 10-24 to adjust the compensation to output
frequency.
PID reversal output selection(10-25)
In case the PID control output value goes negative, parameter 10-25 (PID reversal output selection)
can be used to reverse the motor direction.
PID target acceleration/deceleration time(10-26)
Sets the PID target value acceleration and deceleration ramp time. The acceleration/deceleration
time is set to 00-14~17 and 00-21~24. Reduce the acceleration/deceleration time in case load
resonance or system instability is encountered.
PID Fine Tunning
All PID control parameters are related to each other and require to be adjusted to the appropriate
values. Therefore, the procedure achieving the minimum steady-state is shown as following
(1) Increase or decrease the proportion (P) gain until the system is stable using the smallest
possible control change.
(2) The integral (I) reduces the system stability which is similar to increasing the gain. Adjust the
integral time so that the highest possible proportional gain value can be used without affecting
the system stability. An increase in the integral time reduces system response.
(3) Adjust the differential time if necessary to reduce overshoot on startup. The acceleration/
deceleration time can also be used for the same purpose.
Fine-tuning PID control parameters：
(1) Reduce overshoot
In case overshoot occurs, reduce the derivative
time (D) and increase the integral time (I).
(2) Stabilize PID control
To quickly stabilize the PID control, reduce the
integral time (I) and increase the differential
time (D) in case overshoot occurs.
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