Delta CP2000 Series, User Manual

Page: 499 / 868

Chapter 12 Description of Parameter Settings

CP2000
12.1-08-5
system state. Using a suitable differential time can reduce overshoot and shorten adjustment
time; however, the differential operation increases noise interference. Note that a too large
differential causes more noise interference. In addition, the differential shows the change and
the output is 0 when there is no change. Note that you cannot use the differential control
independently. You must use it with the other two controllers for the PD controller or PID
controller.
 Sets the D controller gain to determine the error change response. Using a suitable differential
time reduces the P and I controllers overshoot to decrease the oscillation for a stable system. A
differential time that is too long may cause system oscillation.
 The differential controller acts on the change in the error and cannot reduce the interference. Do
not use this function when there is significant interference.

Upper limit of Integral Control
Default: 100.0
Settings 0.0
–
100.0%
 Defines an upper bound for the integral gain (I) and therefore limits the master frequency. The
formula is: Integral upper bound = Maximum Output Frequency (Pr.01-00) x Pr.08-04 %.
 An excessive integral value causes a slow response due to sudden load changes and may
cause motor stall or machine damage.
 PID Output Command Limit
Default: 100.0
Settings 0.0 – 110.0%
 Defines the percentage of the output command limit during the PID control. The formula is
Output Command Limit = Maximum Output Frequency (Pr.01-00 x Pr.08-05 %).
 PID Feedback Value by Communication Protocol
Default: Read only
Settings -200.00% – 200.00%
 Use communication to set the PID feedback value when the PID feedback input is set to
communication (Pr.08-00 = 7 or 8).
 PID Delay Time
Default: 0.0
Settings 0.0 – 35.0 sec.
PID Mode Selection
Default: 0
Settings 0: Serial connection
1: Parallel connection
 0: Serial connection, use conventional PID control structure.
 1: Parallel connection, the proportional gain, integral gain and derivative gain are independent.
You can customize the P, I and D value to fit your application.
 Pr.08-20 determines the primary low pass filter time when in PID control. Setting a large time
constant may slow down the drive’s response rate.