Yaskawa S12051 for GPD 515/G5 - Manual (Page 6)

Flash Software-PID for Trim Control
Option S12051 for GPD 515/G5
Yaskawa Electric America, Inc-www.drives.com
02Y00025-0428 Page 6 of 11
Date: 08/23/01
5.36F. H1-01 thru H1-06 : Multi-function Input Terminals
Data 19: PID Control Disable
A multi-function Input Terminal can be used to disable PID control. When this terminal is activated and b5-01 = 2 or 3,
the frequency reference (Terminal 13 or Multi-step speed) is not modified in any way by the PID Controller . When this
terminal is activated and b5-01 = 1, the frequency reference goes to zero.
Data 30: PID Integral Reset
A Multi-function Input Terminal can be used to reset the integrator’s value to zero.
Data 80: Integral Hold
A Multi-function Input Terminal can be used to hold the integrator’s output value. When the contact is closed (on the Multi-
Function Input Terminal), whatever value the integrator is outputting will remain the same until the contact is opened.
Data 81: Positive Integral Hold
A Multi-function Input Terminal can be used to keep the integrator’s value from increasing, yet allow it to decrease.
Data 82: Negative Integral Hold
A Multi-function Input Terminal can be used to keep the integrator’s value from decreasing, yet allow it to increase.
The PID parameters are all interactive, and will need to be adjusted until the control loop is properly tuned, i.e. stable with
minimal steady-state error. A general procedure for tuning these parameters is as follows:
1. Adjust Proportional Gain until continuous oscillations in the Controlled Variable are at a minimum.
2. The addition of Integral Time will cause the steady-state error to approach zero. The time should be adjusted so that
this minimal error is attained as fast as possible, without making the system oscillate.
3. If necessary, adjust derivative time to reduce overshoot during startup. The drive’s accel and decel rate times can
also be used for this purpose.