Rockwell Automation MD65 User Manual Version 2.0 - Manual (Page 174)

I-6 MD65 AC Drive User Manual
PID Preload
The value set in PID Preload (A139), in Hertz, will be pre-loaded
into the integral component of the PID at any start or enable. This
will cause the drive’s frequency command to initially jump to that
preload frequency, and the PID loop starts regulating from there.
PID Limits
PID Trim Hi (A130) and PID Trim Lo (A131) are used to limit the PID
output and are only used in trim mode. PID Trim Hi (A130) sets the
maximum frequency for the PID output in trim mode. PID Trim Lo
(A131) sets the reverse frequency limit for the PID output in trim
mode. Note that when the PID reaches the Hi or Lo limit, the PID
regulator stops integrating so that windup does not occur.
PID Enabled
Freq Cmd
PID Output
PID Pre-load Value
PID Pre-load Value > 0