Yaskawa G5 PID for Trim Control - Manual (Page 10)

Date: 07/01/04, Rev: 04-07 Page 10 of 12 TM.G5SW.012
7. Verify all analog signals while the drive is stopped.
7.1. Bring up U1-01 on the digital operator and verify that the line speed signal working and correct.
7.2. Bring up U1-50 on the digital operator and verify that the feedback voltage is working and correct.
7.3. If an analog PID setpoint is being used, bring up U1-56 on the digital operator and verify correct operation.
8. Determine and set the appropriate PID setpoint.
8.1. With the drive stopped, bring up U1-50 on the digital operator and then position the feedback device where it
would be while the machine was operating normally. Note the value of U1-50.
8b. If a digital PID setpoint is being used, set the value recorded during step 8.1 into parameter b5-07. If an
analog PID setpoint is being used, bring up U1-56 on the digital operator and adjust the setpoint until U1-56
matches the value of U1-50 recorded during step 8.1.
9. Set the maximum amount of trim the PID can output. Program this value into parameter b5-06 (set as a percentage of
the maximum output frequency E1-04).
NOTE: For most applications, the integral limit (b5-04) needs to be set equal to or less than the setting of b5-06
to avoid “wind up” of the PID algorithm.
10. (Optional Step) Test operation of the system prior to running product through the machine.
10.1. Be sure the DRIVE light on the digital operator is on. To turn the DRIVE light on, press MENU, then
DATA/ENTER.
10.2. Be sure the reference is set to remote by verifying that the REMOTE REF light is illuminated. If it is not
illuminated, press the LOCAL/REMOTE key and/or set b1-01 = 1 (terminals).
10.3. Start the machine and the drive, then monitor the output frequency U1-02 while moving the feedback
device. As the feedback device is moved, the output frequency of the drive should increase and decrease the
amount specified in step 9.
11. Run the machine while loaded and adjust the PID parameters to achieve the correct response.
11.1. Adjust the gain b5-02. Increase = faster response (too much will result in instability), Decrease = slower
response (not enough will result in poor reaction to step changes or impact loads).
11.2. Adjust the PID I time b5-03. Decrease = faster response (too low will result in instability), Increase = slower
response (too high and recovery from step changes or impact loads will be slow).
11.3. Adjust the PID D time b5-05 only if very rapid changes are expected in the system process. Normally this
setting is left at the factory of zero in order to maintain system stability.
NOTE: Repeat this procedure at different (expected) line speeds in order to find optimum settings.