Yaskawa S12051 User Manual
The GPD 51/G5, with this factory-installed
FLASH software, has the capability to “trim” a
speed reference with a PID (Proportional,
Integral, Differential) control algorithm. This
software provides the capability to set a speed
reference, then add or subtract from that speed
reference according to a feedback device;
dancer, position transducer, pressure
transducer, etc.
This document supplements Technical Manual
TM 4515 and describes the effect of this
software on the parameters in the G5 drive.
Flash Software-PID for Trim Control
Specifications:
Part No: GPD515C-ZZZZ-CS012
Available for All GPD515/G5 drives
3 Different PID Modes:
PID output only
PID + Line Speed
PID + Line Speed w/ accel/decel timer
Digital or Analog Setpoint
Inverted PID Output Available
Integral Reset Available
Integral Hold Available
Control Modes: Open Loop Vector,
Flux Vector & V//f
Serial Communications: Modbus RTU,
RS-232 (RS485 w/option card)
Option S12051 for GPD 515/G5
(1)
(1)
ZZZZ refers to the base Model Number of
the drive in which the software is installed.
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02Y00025-0428 Page 1 of 11
Date: 08/23/01
Flash Software-PID for Trim Control
PID For Trim Control This section replaces section 5.36
The Proportional, Integral and Derivative control function provides closed-loop control, or regulation of a system process
variable (dancer position, pressure, temperature, etc.). This regulation is accomplished by comparing a feedback signal
to a setpoint reference, which results in an error signal. The PID control algorithm then performs calculations, based upon
the PID parameter settings (b5-01 thru b5-12), on this error signal. The result of the PID algorithm is then used as the
new speed reference, or to trim the existing speed reference.
5.36A. b5-01 : PID Selection
Using this parameter, PID control can be enabled, and the type of PID control can be selected.
Setting Description
0 PID Disabled
1 PID Enabled (Output Only) - PID output becomes the output frequency
2 PID Enabled (Output + Reference) - PID output “trims” the frequency reference
3 PID Enabled (Output + Reference, with accel / decel timer) - PID output “trims” the frequency reference
• If b5-01 is set to 0, no PID function will occur.
• If b5-01 is set to 1, the frequency reference the drive will use will come from the PID control only.
• If b5-01 is set to 2, the frequency reference the drive will use will be the actual frequency reference (Terminal 13 or d1-
01 thru d1-09) plus the output of the PID control. This mode could be used to perform a line speed w/dancer trim
function.
• If b5-01 is set to 3, the frequency reference the drive will use will be the actual frequency reference (Terminal 13 or
d1-01 thru d1-09) plus the output of the PID control. In addition, the accel/decel ramps will change to the settings in
C1-07 & C1-08 after the time specified in b5-08. See description of b5-08 for more details.
5.36B. Line Speed / Frequency Reference Selection
Refer to Section 5.25 - Local/Remote and Reference Selection
the “Auto” speed reference is terminal 13. The “Manual” speed reference is terminal 16, and the “Memory Data” refers to
speed reference parameters d1-01 thru d1-09.
5.36C. PID Setpoint Selection
b5-07: Position Offset
H3-05: Multi-function Analog Input 1
Selection (Term. 16)
H3-09: Multi-function Analog Input 2
Selection (Term. 14)
Select the PID control Setpoint Reference from either the internal digital setting b5-07, or from an analog input (Terminal
16 or 14). Note: if both a digital and an analog setpoint reference are used simultaneously, the two will add together.
• Voltage signal (0 -10 VDC) Terminal 16: Set H3-05 to data “20” and H3-04 to data “0”.
• Voltage signal (-10 to +10 VDC) Terminal 16: Set H3-05 to data “20” and H3-04 to data “1”.
• Current signal (4 to 20 mA) Terminal 14: Set H3-09 to data “20” and H3-08 to data “2”.
• Voltage signal
•
Voltage signal
(2)
GPD515 Technical Manual TM4515
(3)
(0 -10 VDC) Terminal 14: Set H3-09 to data “20” and H3-04 to data “0”.
(3)
(-10 to +10 VDC) Terminal 14: Set H3-09 to data “20” and H3-04 to data “1”.
(2)
in order to select the line speed. NOTE: in Section 5.25,
Option S12051 for GPD 515/G5
(2)
Factory Setting: 0
Range: 0, 1, 2, 3
Factory Setting: 0.00
Range: -10.00 to +10.00V
Factory Setting: 0
Range: 0 - 21
Factory Setting: 1F
Range: 0 - 21
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02Y00025-0428 Page 2 of 11
Date: 08/23/01
Flash Software-PID for Trim Control
5.36D. Feedback Signal Selection
H3-05: Multi-function Analog Input 1
Selection (Term. 16)
H3-09: Multi-function Analog Input 2
Selection (Term. 14)
Select the PID control Feedback Signal from external Terminal 14 or 16.
• Voltage signal (0 -10 VDC) Terminal 16: Set H3-05 to data “B” and H3-04 to data “0”.
• Voltage signal (-10 to +10 VDC) Terminal 16: Set H3-05 to data “B” and H3-04 to data “1”.
• Current signal (4 to 20 mA) Terminal 14: Set H3-09 to data “B” and H3-08 to data “2”.
• Voltage signal
• Voltage signal
(3)
In order to utilize Terminal 14 as a voltage input, a wire jumper needs to be
cut on the main control board. With the input power removed from the drive
and the charge light out, use a small wire cutter to clip the wire labeled J1.
5.36E. PID Settings
b5-02: Proportional Gain
Proportional gain is the value by which the error signal is multiplied to generate a new PID controller output.
b5-03: Integral Time
This parameter determines how fast the PID controller will seek to eliminate any steady-state error. The smaller the
setting, the faster the error will be eliminated. To eliminate the integral function entirely, set this parameter to 0.0 seconds.
b5-04: Integral Limit
This parameter will limit the effect that the integrator can have. It works whether the PID controller output is positive or
negative. It can also be used to prevent integrator “wind-up”.
(3)
(0 -10 VDC) Terminal 14: Set H3-09 to data “B” and H3-04 to data “0”.
(3)
(-10 to +10 VDC) Terminal 14: Set H3-09 to data “B” and H3-04 to data “1”.
Option S12051 for GPD 515/G5
Factory Setting: 0
Range: 0 - 21
Factory Setting: 1F
Range: 0 - 21
Jumper J1 Location
Factory Setting: 1.00
Range: 0.00 - 25.00
Factory Setting: 1.0
Range: 0.0 - 360.0 seconds
Factory Setting: 100
Range: 0.0 - 100.0
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02Y00025-0428 Page 3 of 11
Date: 08/23/01
Flash Software-PID for Trim Control
b5-05: Differential Time
Differential time can be adjusted to increase system response to fast load or reference changes, and to reduce overshoot
upon startup. To eliminate the differential function entirely, set this parameter to 0.00 seconds.
b5-06: PID Output Limit
This parameter can be used to set the maximum effect the PID controller will have on the system. This works whether
the PID controller output is positive or negative. NOTE: When the PID output limit is reached, the integrator will hold and
not increase in value until the PID output is less than the PID output limit.
b5-08: Accel/Decel Switching Delay
This parameter sets the amount of time after achieving set speed when the accel/decel ramps will switch between their
present settings and Accel/Decel 4 (C1-07 & C1-08). When a stop command is given, the Accel/Decel ramps will revert
to Accel 1 / Decel 1. This feature is only effective when b5-01 = 3.
Option S12051 for GPD 515/G5
Factory Setting: 0.00
Range: 0.00-10.00 seconds
Factory Setting: 100.00
Range: 0.00 - 100.00
Factory Setting: 0.00
Range: 0.00-10.00 seconds
Timing Chart of Output + Reference, With accel / decel timer (b5-01 =3)
b5-09: PID Output Select
This parameter determines whether the output of the PID controller will be added to or subtracted from the frequency
reference (only when b5-01 = 2 or 3).
Setting Description
0
Not Inverted
1
Inverted
The output of the PID controller will be added to the frequency reference. This would be used when the
output voltage or current of the feedback device increases with motor speed.
The output of the PID controller will be subtracted from the frequency reference. This would used when
the output voltage or current of the feedback device decreases with motor speed.
Factory Setting: 0
Range: 0, 1
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02Y00025-0428 Page 4 of 11
Date: 08/23/01
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