Installation manual

Configuration Mode (ConF)
194 S1A28692 03/2010
"Manual - Automatic" Operation with PID
This function combines the PID regulator, the preset speeds and a manual reference. Depending on the state
of the logic input, the speed reference is given by the preset speeds or by a manual reference input via the
PID function.
Manual reference [Manual reference] (PIM):
• Analog inputs AI1 to AI3
• Pulse input
Predictive speed reference [Speed ref. assign.] (FPI):
• [AI1] (AI1): Analog input
• [AI2] (AI2): Analog input
• [AI3] (AI3): Analog input
• [RP] (PI): Pulse input
• [HMI] (LCC): Graphic display terminal or remote display terminal
• [Modbus] (Mdb): Integrated Modbus
• [CANopen] (CAn): Integrated CANopen®
• [Com. card] (nEt): Communication card (if inserted)
Setting up the PID regulator
1. Configuration in PID mode.
See the diagram on page 192.
2. Perform a test in factory settings mode.
To optimize the drive, adjust [PID prop. gain] (rPG) or [PID integral gain] (rIG) gradually and
independently, and observe the effect on the PID feedback in relation to the reference.
3. If the factory settings are unstable or the reference is incorrect.
• Perform a test with a speed reference in Manual mode (without PID regulator) and with the drive on load
for the speed range of the system:
- In steady state, the speed must be stable and comply with the reference, and the PID feedback signal
must be stable.
- In transient state, the speed must follow the ramp and stabilize quickly, and the PID feedback must
follow the speed. If this is not the case, see the settings for the drive and/or sensor signal and wiring.
• Switch to PID mode.
• Set [Dec ramp adapt.] (brA) to [No] (nO) (no auto-adaptation of the ramp).
• Set [PID ramp] (PrP) to the minimum permitted by the mechanism without triggering an
[Overbraking] (ObF).
• Set the integral gain [PID integral gain] (rIG) to minimum.
• Leave the derivative gain [PID derivative gain] (rdG) at 0.
• Observe the PID feedback and the reference.
• Switch the drive ON/OFF a number of times or vary the load or reference rapidly a number of times.
• Set the proportional gain [PID prop. gain] (rPG) in order to ascertain the compromise between response
time and stability in transient phases (slight overshoot and 1 to 2 oscillations before stabilizing).
• If the reference varies from the preset value in steady state, gradually increase the integral gain
[PID integral gain] (rIG), reduce the proportional gain [PID prop. gain] (rPG) in the event of instability
(pump applications), find a compromise between response time and static precision (see diagram).
• Lastly, the derivative gain may permit the overshoot to be reduced and the response time to be improved,
although this will be more difficult to obtain a compromise in terms of stability, as it depends on 3 gains.
• Perform in-production tests over the whole reference range.
Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: [phone]-Outside Local Area: [phone]-www.stevenengineering.com