B&R 8I84T200037.01P-1, User Manual

Page: 244 / 405

Programming guidelines
244 ACOPOSinverter P84 User's Manual 2.10
Test case 1: The PID response corresponds to the response time of the PID feedback.
ACOPOSinverter PID configuration:
ACC:
DEC:
HSP:
LSP:
1
1
50.0 Hz
0.0 Hz
PIF:
AIC1:
AIV1:
AIV1
CAN
0
PIF1:
PIF2:
PIP1:
PIP2:
0
8192
0
8192
RPG:
RIG:
RDG:
PRP:
1.00
0.01
0.00
0.0 s
POL:
POH:
AC2:
DE2:
-500
500
30
30
Test results:
siRPEInternal
Signed
Scaling Zero
Dec
siSpdEstEnt
Signed
Scaling Zero
Dec
siPIDQ13_ref
Signed
Scaling Zero
Dec
siRPEInternal = PID fault
siSpdEstEnt = Motor speed
siPIDQ13_ref = PID output
CMD bit 8 = 1
Drive stops
Position reference moves
CMD bit 8 = 0
Drive starts
CMD bit 8 = 0
The PID feedback increases when the drive accelerates, so the error decreases.
When PID feedback reaches the PID reference, the error is zero and the drive stops.
This is the expected behavior. The fault remains positive, the inverter accelerates. As a result, the PID feedback
increases (the fault decreases), so the PID reference size is reached. The motor is in the run mode, but with a
speed of 0.