4-180
10-24
PID output gain
Range
【
0.0~25.0
】
Use parameter 10-24 to adjust PID output.
10-25
PID reversal output selection
Range
【
0
】
:
Do not allow the reversal output
【
1
】
:
Allow the reversal output
In case the PID control output value goes negative, parameter 10-25 (PID reversal output selection) can be used
to reverse the motor direction.
10-26
PID target acceleration / deceleration time
Range
【
0.0~25.5
】
Sec
Sets the PID target value acceleration and deceleration ramp time. The acceleration/deceleration time is set to
00-14~17 and 00-21~24. Reduce the acceleration/deceleration time in case load resonance or system instability
is encountered.
PID Fine Tuning
All PID control parameters are related to each other and require to be adjusted to the appropriate values.
Therefore, the procedure achieving the minimum steady-state is shown as following:
(1) Increase or decrease the proportion (P) gain until the system is stable using the smallest possible control
change.
(2) The integral (I) reduces the system stability which is similar to increasing the gain. Adjust the integral time so
that the highest possible proportional gain value can be used without affecting the system stability. An
increase in the integral time reduces system response.
(3) Adjust the differential time if necessary to reduce overshoot on startup. The acceleration / deceleration time
can also be used for the same purpose.
Fine-tuning PID control parameters:
(1) Reduce overshoot
Output
Before
After
t
In case overshoot occurs, reduce the derivative time
(D) and increase the integral time (I).
(2) Stabilize PID control
