30
Dancer control detail
(2) PID position gain switchover
(Pr. 138, Pr. 270 to Pr. 278)
Gain can be switched according to the deviation between dancer roll position signal (terminal 1 input (initial value)) and
desired set point.
Value G of above calculation formula can be changed by the deviation of PID control input.
• Setting for gain
When 9999 is set to
Pr. 274
to
Pr. 278
, gain is operated as 100%.
• Setting for deviation
To use this function, set other than 9999 to
Pr. 272
and
Pr. 273
.
For
Pr. 270
to
Pr. 273
, make the setting to satisfy A>C1
C2>B. Otherwise, write error occurs.
When C1=C2, larger gain between gain C1 and C2 becomes valid.
•Integral control selection
Whether to perform integral control or not when deviation is between C1 and C2 can be set by
Pr. 138
.
When no integral control is selected, integral value to that point is kept.
Parameter
Number
Name
Setting Range
Increments
Initial
Value
Remarks
138
Integral control presence/
absence
0 to 3
1
0
270
Dancer position A
400.1% to 600%
0.1%
600
400%
-100%
500%
0%
600%
100%
271
Dancer position B
400% to 599.9%
0.1%
400
272
Dancer position C1
400.1% to 599.9%, 9999
0.1%
9999
273
Dancer position C2
400.1% to 599.9%, 9999
0.1%
9999
274
PID position gain A
0.1 to 1000%, 9999
0.1%
9999
275
PID position gain B
0.1 to 1000%, 9999
0.1%
9999
276
PID position gain C1
0.1 to 1000%, 9999
0.1%
9999
277
PID position gain C2
0.1 to 1000%, 9999
0.1%
9999
278
PID position gain D
0.1 to 1000%, 9999
0.1%
9999
G
Kp(1+
1
+ Td
S)
Ti
S
Pr. 138
Above A
Between A and C
Between C1 and
C2
Between C2 and B
below B
0 (initial value)
Perform
Perform
Perform
Perform
Perform
1
Perform
Perform
Do not perform
Perform
Perform
2
Do not perform
Perform
Perform
Perform
Do not perform
3
Do not perform
Perform
Do not perform
Perform
Do not perform
+100%
0%
-100%
Deviation input
Deviation
C1
Deviation
A
Deviation
C2
Deviation
B
Gain A
Gain B
Gain C1
Gain G
Gain C2
Gain D
