5.2 b: Application
124 YASKAWA ELECTRIC SIEP C710606 44B YASKAWA AC Drive T1000V Technical Manual
■ b5-01: PID Function Setting
Enables or disables the PID operation and selects the PID operation mode.
Setting 0: PID disabled
Setting 1: Output Frequency = PID Output 1
The PID controller is enabled and the PID output builds the frequency reference. The PID input is D controlled.
Setting 2: Output Frequency = PID Output 2
The PID controller is enabled and the PID output builds the frequency reference. The PID feedback is D controlled.
Setting 3: Output Frequency = Frequency Reference + PID Output 1
The PID controller is enabled and the PID output is added to the frequency reference. D control is applied to the
difference of the feedback value (U5-02) and the setpoint.
Setting 4: Output Frequency = Frequency Reference + PID Output 2
The PID controller is enabled and the PID output is added to the frequency reference. D control is applied to the feedback
value (U5-06).
■
b5-02: Proportional Gain Setting (P)
Sets the P gain that is applied to the PID input. A large value will tend to reduce the error, but may cause instability
(oscillations) if too high. A small value may allow too much offset between the setpoint and feedback.
■
b5-03: Integral Time Setting (I)
Sets the time constant that is used to calculate the integral of the PID input. The smaller the integral time set to b5-03, the
faster the offset will be eliminated. If set too short, it can cause overshoot or oscillations. To turn off the integral time, set
b5-03 = 0.00.
Figure 5. 18
Figure 5.18 Offset Elimination by Integral Operation
■ b5-04: Integral Limit Setting
Sets the maximum output possible from the integral block. Set as a percentage of the maximum frequency (E1-04).
Note: In case of rapidly varying loads, the output of the PID function may show a fair amount of oscillation. To suppress this
oscillation, a limit can be applied to the integral output by programming b5-04.
No. Parameter Name Setting Range Default
b5-01 PID Function Setting 0 to 4 0
No. Name Setting Range Default
b5-02 Proportional Gain Setting (P) 0.00 to 25.00 1.00
No. Name Setting Range Default
b5-03 Integral Time Setting (I) 0.0 to 360.0 s 1.0 s
No. Name Setting Range Default
b5-04 Integral Limit Setting 0.0 to 100.0% 100.0%
Zero
offset with
integral action
No Intregral
With Intregral
PID
feedback
Setpoint
Offset
Setpoint
Feedback
Feedback
Time
Time
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