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Chapter 6 Parameter Description
96
status is valid by whether there is current flowing in the terminals.
When the digital output Yi terminal acts as open collector output, it may judge whether the output status
is valid by whether there is current flowing in the terminal.
It may judge whether the output status is valid by whether the relay terminal is in the
magnetizing
status.
6.9 Process PID Close Loop Parameters (Group P8)
Deviation Limit
P8.07
PID Adjustment
Selection
P8.08
Proportional Gain
P8.03 Kp×
ε
Integral Gain P8.04
Σ
Ki×
ε
Differential Gain
P8.05
Kd×(
ε
-
ε′
)
Close
Loop
output
Close
Loop
Feedback
Sampling Cycle
P8.06
Close Loop
Feedback Value
+
-
ε
+
+
+
ε
´refers to the previous deviation,
ε
refers to the deviation this time
Analog
Feedback
close Loop
AI1
AI2
AI3
DI
Set P8.02
andP5.06=47
Single Pulse
Feedback
close Loop
Analog
feedback
close Loop
P8.00
P4.15~P4.21
AI1
AI2
AI3
DI
P8.01
Single-
phase pulse
feedback
close loop
Set P1.02~P1.04
Set P1.05
∧
P1.07
Fig. 6-30 Schematic diagram for PID
The current control operation mode P0.03 shall be determined before determining the process close loop
reference value.
When the current control operation mode is analog feedback process close loop (P0.03=1, 3, 5 and 7), if
P1.02 is set to “0”, it may determine the reference value of the close loop by P8.00. If P1.02 is non-zero
value, it determine the reference value of the close loop by the analog value and pulse frequency
selected in P1.02.
When the current control operation mode is single-phase pulse feedback process close loop (P0.03=2
and 6), it may determine the reference value of the close loop. In addition, when the single-phase pulse
feedback process close loop is employed, it needs to use an pulse encoder and set the number of
single-phase pulses per rotation for the encoder according to the encoder model (P8.02)so as to
determine the close-loop feedback value indicated by the signal feedback by the single-phase pulse.
Note:
The signal feedback by the single-phase pulse must be connected to X7/DI terminal and this
terminal shall be set to “47: Single-Phase Pulse Input. of single-phase pulse feedback process
close loop control.
In the analog value feedback close loop mode, if P1.02 is set to “0”, it can use multi-section
P8.00
Analog feedback process close loop control digital voltage
reference
0.00~10.00 V(0.00V)
P8.01
Single-phase pulse feedback process close loop control
digital rotation velocity reference
0~30000 rpm(0rpm)
P8.02
Number of pulses per turn for single-phase pulse
1~9999(1000)
