Parameters for Sensorless. See also par.20-00 Feedback 1 Source, par.18-50 Sensorless Readout [unit], par.
16-26
Power Filtered [kW] and par.16-27 Power Filtered [hp].
NOTE
Sensorless unit and Sensorless Information requires set-up by MCT10 with sensorless specific plug-in.
20-7* PID autotuning
The adjustable frequency drive PID closed-loop controller (parameters 20-**, Adjustable Frequency Drive
Closed-loop) can be autotuned, simplifying and saving time during commissioning, while ensuring accurate PID
control adjustment. To use autotuning, it is necessary for the adjustable frequency drive to be configured for
closed-loop in par.1-00
Configuration Mode.
A Graphical Local Control Panel (keypad) must be used in order to react on messages during the autotuning
sequence.
Enabling par.20-79
PID Autotuning, puts the adjustable frequency drive into autotuning mode. The keypad then
directs the user with on-screen instructions.
The fan/pump is started by pressing [Auto On] button on the keypad and applying a start signal. The speed is
adjusted manually by pressing the [
Ⴃ
] or [
Ⴍ
] navigation keys on the keypad to a level where the feedback is
around the system setpoint.
NOTE
It is not possible to run the motor at maximum or minimum speed, when manually adjusting the motor speed due to
the need of giving the motor a step in the speed during autotuning.
PID autotuning functions by introducing step changes while operating at a steady state and then monitoring the
feedback. From the feedback response, the required values for par.20-93
PID Proportional Gain and par.
20-94
PID Integral Time are calculated. par.20-95 PID Differentiation Time is set to value 0 (zero). par.20-81 PID
Normal/ Inverse Control is determined during the tuning process.
These calculated values are presented on the keypad and the user can decide whether to accept or reject them.
Once accepted, the values are written to the relevant parameters and autotuning mode is disabled in par.
20-79
PID Autotuning. Depending on the system being controlled, the time required to carry out autotuning
could be several minutes.
It is advised to set the ramp times in par.3-41
Ramp 1 Ramp-up Time, par.3-42 Ramp 1 Ramp-down Time or par.
3-51
Ramp 2 Ramp-up Time and par.3-52 Ramp 2 Ramp-down Time according to the load inertia before carrying
out PID autotuning. If PID autotuning is carried out with slow ramp times, the autotuned parameters will typically
result in very slow control. Excessive feedback sensor noise should be removed using the input filter (parameter
groups 6-** and 5-5*, Terminal 53/54 Filter Time Constant/Pulse Filter Time Constant #29/33) before activating
PID autotuning. In order to obtain the most accurate controller parameters, it is advised to carry out PID auto-
tuning when the application is running in typical operation, i.e., with a typical load.
TR200 Programming Guide 4-165
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