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Chapter 6. Function Description (CON)
The definition of P gain and I gain in the Process PID controller is as follows. If P gain is 100% and I gain is 0% and
the input error of the Process PID controller ( Proc PID Ref - Proc PID F/B) is 100%, the output of Process PID
controller is 100%. If I gain is 10% and P gain is 0 and the input error is 100%, it takes the output of the Process PI
controller 1 second to be accumulated up to 100%. The higher I gain becomes, the faster the response becomes
reducing the accumulated time. Finally, the output of Process PID controller (%) multiplied by the maximum motor
speed (FUN_04) is added to the total speed command.
Code
LCD display
Description
Setting range
Unit
Factory setting
CON_13
Proc PID Kp
Process PID P gain
0.0 ~ 999.9
%
0.0
CON_14
Proc PID Ki
Process PID I gain
0.0 ~ 100.0
%
0.0
CON_15
Proc PID Kd
Process PID D gain
0.0 ~ 100.0
%
0.0
To prevent the Process PID controller from being saturated by the malfunction of the Process PID controller, the
output of the Process PID controller can be limited to the positive or negative value, separately from the main speed
controller.
Code
LCD display
Description
Setting range
Unit
Factory setting
CON_16
Proc Pos Lmt
Process PID positive limit
-100 ~ 100
%
100
CON_17
Proc Neg Lmt
Process PID negative limit
-100 ~ 100
%
100
Low pass filter at the output of the Process PID controller can be used. In this case, filter output is multplied by the
output gain and fed to the speed command.
Code
LCD display
Description
Setting range
Unit
Factory setting
CON_18
Proc Out LPF
Process PID output
LPF time constant
0 ~ 500
ms
0
CON_19
Proc OutGain
Process PID output gain
-250.0 ~ 250.0
%
0.0
If the output error of Process PID exists at stopping, it keeps current motor speed during “PIDHoldTime” and then free-
runs to stop. If output error is “0”, motor is stopped regardless of “PIDHoldTime“ setting.
Code
LCD display
Description
Setting range
Unit
Factory setting
CON_21
PIDHoldTime
Process PID Hold Time
0 ~ 10000
ms
0