Optidrive P2 Advanced User Guide Rev 2.00
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1.3.3.
Parameter Group 3 – PID Control
Par.
Name
Minimum
Maximum
Default
Units
P3-01
PID Proportional Gain
0.1
30.0
1.0
-
PID Controller Proportional Gain. Higher values provide a greater change in the drive output frequency in response to small changes in
the feedback signal. Too high a value can cause instability
P3-02
PID Integral Time Constant
0.0
30.0
1.0
Seconds
PID Controller Integral Time. Larger values provide a more damped response for systems where the overall process responds slowly
P3-03
PID Differential Time Constant
0.00
1.00
0.00
Seconds
PID Differential Time Constant
P3-04
PID Operating Mode
0
1
0
-
0 : Direct Operation
. Use this mode if an increase in the motor speed should result in an increase in the feedback signal
1 : Inverse Operation
. Use this mode if an increase in the motor speed should result in a decrease in the feedback signal
P3-05
PID Reference (Setpoint) Source Select
0
2
0
-
Selects the source for the PID Reference / Setpoint
0 : Digital Preset Setpoint
. P3-06 is used
1 : Analog Input 1 Setpoint
2 : Analog Input 2 Setpoint
P3-06
PID Digital Reference (Setpoint)
0.0
100.0
0.0
%
When P3-05 = 0, this parameter sets the preset digital reference (setpoint) used for the PID Controller
P3-07
PID Controller Output Upper Limit
P3-08
100.0
100.0
%
Limits the maximum value output from the PID controller
P3-08
PID Controller Output Lower Limit
0.0
P3-07
0.0
%
Limits the minimum output from the PID controller
P3-09
PID Output Limit Control
0
3
0
-
0 : Digital Output Limits
. The output range of the PID controller is limited by the values of P3-07 & P3-08
1 : Analog Input 1 Provides a Variable Upper Limit
. The output range of the PID controller is limited by the values of P3-08 & the signal
applied to Analog Input 1
2 : Analog Input 1 Provides a Variable Lower Limit
. The output range of the PID controller is limited by the signal applied to Analog
Input 1 & the value of P3-07
3 : PID output Added to Analog Input 1 Value
. The output value from the PID Controller is added to the speed reference applied to the
Analog Input 1
P3-10
PID Feedback Signal Source Select
0
5
0
-
0 : Analog Input 2
1 : Analog Input 1
2 : Motor Current
. The feedback value is scaled such that 100.0% = P1-08
3 : DC bus voltage
. The feedback is scaled such that 100.0% = 1000 Volts
4 : Differential : Analog input 1 – Analog input 2.
PID Feedback = P0-01 – P0-02, limited to 0.0 minimum value
5 : Largest Value : Analog Input 1 or Analog Input 2.
P3-11
Maximum PID Error to Enable Ramps
0.0
25.0
0.0
%
Defines a threshold PID error level, whereby if the difference between the setpoint and feedback values is less than the set threshold,
the internal ramp times of the drive are disabled. Where a greater PID error exists, the ramp times are enabled to limit the rate of
change of motor speed on large PID errors, and react quickly to small errors.
Setting to 0.0 means that the drive ramps are always enabled. This parameter is intended to allow the user to disable the drive internal
ramps where a fast reaction to the PID control is required, however by only disabling the ramps when a small PID error exists, the risk
of possible over current or over voltage trips being generated are reduced.
P3-12
PID Feedback Value Display Scaling Factor
0.000
50.000
0.000
-
Applies a scaling factor to the displayed PID feedback, allowing the user to display the actual signal level from a transducer, e.g. 0 – 10
Bar etc. The value is displayed with an ‘r’ prefix, to one decimal place.
P3-13
PID Error Wake Up Level
0.0
100.0
5.0
%
Sets a programmable level whereby if the drive enters standby motor whilst operating under PID control, the difference between the
setpoint and the selected feedback signal increase beyond this threshold before the drive will return to normal operation.
P3-18
PID Reset Control
0
1
0
-
This parameter is used to control the reset behaviour of the PID controller.
0 : Continuous Run
. In this mode, the PID controller operates continuously, regardless of the operating state of the drive. This can
result in the output of the PID controller integrating up to the maximum limit prior to the drive being enabled.
1 : Reset On Disable
. In this mode, the PID controller output is reset to zero when the drive is disabled, and restarts when the drive is
enabled.
