2.3 b: Application
228 YASKAWA TOEPYAIGA8002B GA800 Drive Programming
Enables PID control. The drive adds the frequency reference to the PID output. The drive performs D control on the
feedback output via U5-06 [PID Fdbk-Diff PID Fdbk].
5 : Same as 7series & prior, b5-01=1
6 : Same as 7series & prior, b5-01=2
7 : Same as 7series & prior, b5-01=3
8 : Same as 7series & prior, b5-01=4
Note:
Use settings 5 to 8 when the drive is a replacement for a previous generation drive.
■ b5-02: Proportional Gain (P)
No.
(Hex.)
Name Description
Default
(Range)
b5-02
(01A6)
RUN
Proportional Gain (P)
Sets the proportional gain (P) that is applied to PID input.
1.00
(0.00 - 25.00)
Larger values decrease errors, but can cause oscillations. Smaller values let too much offset between the setpoint and
feedback.
Set b5-02 = 0.00 to disable P control.
■ b5-03: Integral Time (I)
No.
(Hex.)
Name Description
Default
(Range)
b5-03
(01A7)
RUN
Integral Time (I)
Sets the integral time (I) that is applied to PID input.
1.0 s
(0.0 - 360.0 s)
Set a short integral time in b5-03 to remove the offset more quickly. If the integral time is too short, overshoot or
oscillation can occur.
Set b5-03 = 0.00 to disable I control.
Figure 2.39 Integral Time and Deviation
■ b5-04: Integral Limit
No.
(Hex.)
Name Description
Default
(Range)
b5-04
(01A8)
RUN
Integral Limit
Sets the upper limit for integral control (I) as a percentage of the Maximum Output Frequency.
100.0%
(0.0 - 100.0%)
Applications with loads that quickly change will cause the output of the PID function to oscillate. Set this parameter
to a low value to prevent oscillation, mechanical loss, and motor speed loss.
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