Commander GP User Guide
Issue code: gpxu2
Setting Up the Drive 3-37
Setting up and using Macro 5
Setting up PID control
1. By default, the Drive operates in frequency
control. To disable this and enable PID control,
close the PID ENABLE contact (terminal 29).
2. Set the PID REFERENCE potentiometer
(terminal 7) at the required set-point.
3. Set the FREQUENCY REFERENCE (terminals
5, 6) for the required nominal motor (process)
speed.
4. Connect the feedback device to terminal 8
(PID FEEDBACK).
5. The values of the analog signals can be
monitored by displaying the following
parameters:
0.17 Frequency reference
0.18 PID reference
0.19 PID feedback
0.26 Post-scaling PID reference
0.27 Post-scaling PID feedback
Adjusting the PID control range
In PID control, the PID reference and PID feedback
are each passed through a scaling stage, and the
error resulting from differences between these
references is passed through a limiter and then
through a final scaling stage.
The limiter is used for applying minimum and
maximum limits to the PID error. The minimum
error can be a negative value.
The final scaling stage is used for adjusting the
degree of change to the frequency reference.
After these two stages, the error is added to the
frequency reference.
1. The default scaling for analog inputs 2 and 3
is 1. If required, adjust the following
parameters to alter the scaling:
0.28 Analog input 2 scaling (PID reference)
0.29 Analog input 3 scaling (PID feedback)
2. To limit the maximum value of PID error, set
0.23 PID high limit at the required value.
Default value: 100 %
Range: 0 ~ 100 %
3. To define the minimum value of PID error, set
0.24 PID low limit at the required value.
Default value: –100 %
Range: ±100 %
4. To define the degree of control on the
frequency reference, set 0.25 PID output scale
factor at the required value.
Default value: 1
Range: 0 ~ 4.000
Adjusting the PID gain settings
The following parameters are used:
0.20 PID proportional gain
Default value: 1
Range: 0 ~ 4.000
0.21 PID integral gain
Default value: 0.5
Range: 0 ~ 4.000
0.22 PID derivative gain
Default value: 0
Range: 0 ~ 4.000
Reference selection
For correct operation of this macro configuration,
the setting of parameter of 0.05 Reference selection
should be at 0.
Analog input modes
The analog inputs can be configured for the
following input signals:
0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
Refer to the following parameters in Appendix D
Menu 0 Parameters for selecting the required mode:
Analog
input
Terminal(s) Parameter
1 5, 6
0.14
Analog input 1 mode selector
27
0.15
Analog input 2 mode selector
38
0.16
Analog input 3 mode selector
