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PID C

ONTROL

M

ANUAL

Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: [email protected]

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Summary of Contents for ASD 9 Series

Page 1: ...PID CONTROL MANUAL Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 2: ...Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 3: ...PID Control Manual Document Number 58695 000 Date March 2008 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 4: ...ontact your Toshiba representative The contents of this manual shall not become a part of or modify any prior or existing agreement commitment or relationship The sales contract contains the entire obligation of Toshiba International Corporation The warranty contained in the contract between the parties is the sole warranty of Toshiba International Corporation and any statements contained herein d...

Page 5: ...om 8 a m to 5 p m CST Monday through Friday The Support Center s toll free number is US 800 231 1412 Fax 713 937 9349 Canada 800 527 1204 You may also contact Toshiba by writing to Toshiba International Corporation 13131 West Little York Road Houston Texas 77041 9990 Attn ASD Product Manager For further information on Toshiba s products and services please visit our website Buy www ValinOnline com...

Page 6: ...ser and maintenance personnel This manual may also be used as a reference manual or for training With this in mind use this manual to develop a system familiarity before attempting to operate the ASD using the PID Control Function parameters Because of our commitment to continuous improvement Toshiba International Corporation reserves the right without prior notice to update information make produ...

Page 7: ...ameters 6 Set the PID Gain Parameters 6 Simple Position PID Control 6 Additional PID Related Commands 7 Switch to Open Loop Operation 7 Reset the Integral and Differential Gain for PID Control 7 Display the Process and Feedback Values 7 Scaling the Analog Input Signal 8 PID Control Parameter Summary 10 Parameter Descriptions 12 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin...

Page 8: ...ii PID Control Manual Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 9: ...justment See Figure 2 4 Simple Position PID Monitors the load position e g crane sprayer etc as the measurement that is to be compared to the setpoint in determining the ASD output adjustment See Figure 3 Figures 1 3 show the relationship of the parameters required for Process PID Speed PID and Easy Position PID Figure 1 Diagram for F359 Process PID Figure 2 Diagram for F359 Speed PID Process Refe...

Page 10: ...ocess reference value set with an external signal is shown on the next page Figure 4 The desired process output is 15 psi A process reference value of 5 V will produce a process output of 15 psi This process reference value of 5 V corresponds to a frequency command of 40 Hz The process feedback is input at the V I terminals The ASD parameters F201 F204 are set so a feedback value of 12 mA from the...

Page 11: ...r Limit Frequency lower than the Maximum Frequency Feedback Value 4 20 mA Process Value 0 10 V Operation Frequency Command Value 0 80 Hz 4 0 0 8 2 5 20 12 5 0 40 16 7 5 60 20 10 80 Sensor Range IICC V I CC RR U V W R S T M sensor Pressure Pump P 3 Phase Input Process feedback DC 4 20 mA Process reference value DC 5 V 0 10 V Desired process value 15 psi 10 20 psi 20 psi 10 psi 15 psi 10 psi 20 psi ...

Page 12: ...at 20 mA and F204 to 80 Hz Figure 6 V I input points for 4 20 mA feedback signal Reverse the Feedback Response A negative response slope can be established by either of two methods Switch the values of the V I Input Point Frequencies F202 and F204 Switch the ASD response from normal to inverted Example Reverse the Response Slope Using V I Input Point Settings A system using a 4 20 mA feedback sign...

Page 13: ...9 External switch on S3 Table 1 Parameter settings for slope polarity switching output Parameter Number Parameter Name Selectable Functions Range Setting F117 Input Terminal 7 S3 0 131 54 PID Positive Negative Slope Switching Parameter Number Parameter Name Setting F117 Input Terminal Function S3 54 F201 V I Input Point 1 Setting 20 F202 V I Input Point 1 Frequency 0 F203 V I Input Point 2 Setting...

Page 14: ...sition at the time the command is received is recorded and used as the position reference point The parameters required for Simple Position PID Control setup are listed in the following table Table 2 Required Simple Position PID Control parameters Limit Parameters Process PID Speed PID F364 F365 PID Deviation Upper and Lower Limit YES YES F368 F367 Process Upper and Lower Limit YES YES F370 F371 P...

Page 15: ... function 52 Display the Process and Feedback Values Parameters Display Unit Multiplication Factor F702 and Display Unit Selection F703 can be used to modify the ASD display to give a direct reading of the process output If F703 is set to 1 the displayed value becomes Frequency displayed number specified at F702 Value displayed Example Display motor speed for a four pole motor Change the display m...

Page 16: ...or by adjusting the set points For instance if the feedback signal for the voltage input terminal below were only 3 7 V the same slope would be created by entering the parameter pair settings F201 F202 and F203 F204 shown in Figure 10 Figure 10 Example of voltage scaling to compensate for feedback amplitude F204 F202 F203 F201 7 V 3 V 56 Hz 24 Hz 70 30 0 V 0 10 V 100 0 Hz 80 Hz Buy www ValinOnline...

Page 17: ... Hz 0 Hz 100 0 F213 F211 Example RR Terminal Settings F212 F210 10 V 0 V 80 Hz 0 Hz 100 0 F204 F202 Example V I used as a Current Input Terminal F203 F201 20 mA 4 mA 80 Hz 0 Hz 100 20 F219 F217 Example RX Terminal Settings F218 F216 10 V 10 V 80 Hz 0 Hz 100 100 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 18: ...nt Torque 1 Voltage Decrease slope 2 Automatic Torque Boost 3 Sensorless Vector Control Speed 4 Sensorless Vector Control Speed Torque 5 V I 5 Point slope 6 PM Drive 7 PG Vector Feedback Control Speed 8 PG Vector Feedback Control Speed Torque 8 PG Vector Feedback Control F201 V I Input Point 1 Setting 0 100 0 F202 V I Input Point 1 Frequency 0 00 F011 Hz 0 00 F203 V I Input Point 2 Setting 0 100 1...

Page 19: ...5 0 0 1 F362 PID Feedback Proportional P Gain 0 01 100 00 0 10 F363 PID Feedback Integral I Gain 0 01 100 00 0 10 F364 PID Deviation Upper Limit F013 F012 Hz 60 00 F365 PID Deviation Lower Limit F013 F012 Hz 60 00 F366 PID Feedback Differential D Gain 0 00 2 55 0 00 F367 Process Upper Limit F013 F012 Hz 60 00 F368 Process Lower Limit F013 F012 Hz 0 00 F369 PID Control Waiting Time 0 2400 sec 0 F37...

Page 20: ...l Torque Control or Vector Control mode F013 Lower Limit Frequency sets the lowest frequency that the ASD will accept as a frequency command Under certain conditions the ASD may output frequencies lower than the Lower Limit Frequency Accelerating from a stop Decelerating to a stop System is in PID Control Torque Control or Vector Control modes F660 Adding Input Selection Override 0 Disabled 1 V I ...

Page 21: ...xplained in detail in the ASD Operation Manual F217 F219 RX Input Point 1 2 Frequency set the corresponding frequencies for the RX Input Point 1 and 2 settings See Specify the Feedback Response on pg 4 F240 Start Frequency sets the minimum motor speed during startup at which the ASD will begin to output the commanded frequency even if the command frequency is less than the Start Frequency During t...

Page 22: ...put over correction and oscillation Change in ASD Response with Change in Proportional Gain I and D settings held constant F363 PID Feedback Integral I Gain sets the degree that the Integral I feedback affects the output signal The smaller the value the more pronounced the effect of the Integral feedback on the output signal Integral gain determines how much the cumulative deviation difference bet...

Page 23: ...ol setup F370 PID Output Upper Limit sets the Upper Limit when operating in Speed PID mode F371 PID Output Lower Limit sets the Lower Limit when operating in Speed PID mode F372 Process Increasing Rate limits the rate at which the output of the ASD may increase for a given difference in the speed reference and the PID feedback value F373 Process Decreasing Rate limits the rate at which the output ...

Page 24: ...364 F365 F367 and F368 ARE NOT affected by F702 PID Process Data Only PID frequency limiting parameters F364 F365 F367 and F368 ARE affected by F702 F729 Panel Override Multiplication Gain provides a value to be used if the Multiplying Input Selection F661 is set to 4 F729 Setting Discrete Input Output Terminals ASD discrete input terminals F111 F118 and output terminals F130 F132 have several PID...

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