Yaskawa Z1000U - Manual (Page 149)

Setting 3: Output Frequency = Frequency Reference + PID Output 1
The PID controller is enabled and the PID output is added to the frequency reference.
n b5-02: Proportional Gain Setting (P)
Sets the P gain applied to the PID input. Larger values will tend to reduce the error but may cause oscillations if set too high,
while lower values may allow too much offset between the setpoint and feedback.
No. Name Setting Range Default
b5-02 Proportional Gain Setting (P) 0.00 to 25.00 2.00
n b5-03: Integral Time Setting (I)
Sets the time constant used to calculate the integral of the PID input. The shorter the integral time set to b5-03, the faster the
offset will be eliminated. If the integral time is set too short, however, overshoot or oscillation may occur. To turn off the
integral time, set b5-03 to 0.00.
No. Name Setting Range Default
b5-03 Integral Time Setting (I) 0.0 to 360.0 s 1.0 s
n b5-04: Integral Limit Setting
Sets the maximum output possible from the integral block as a percentage of the maximum frequency (E1-04).
No. Name Setting Range Default
b5-04 Integral Limit Setting 0.0 to 100.0% 100.0%
Note: On some applications, especially those with rapidly varying loads, the output of the PID function may show a fair amount of oscillation.
Program b5-04 to apply a limit to the integral output and suppress this oscillation.
n b5-05: Derivative Time (D)
Sets the time the drive predicts the PID input/PID feedback signal based on the derivative of the PID input/PID feedback.
Longer time settings improve the response but can cause vibrations, while shorter time settings reduce the overshoot but reduce
controller responsiveness. D control is disabled by setting b5-05 to zero seconds.
No. Name Setting Range Default
b5-05 Derivative Time (D) 0.00 to 10.00 s 0.00 s
n b5-06: PID Output Limit
Sets the maximum output possible from the entire PID controller as a percentage of the maximum frequency (E1-04).
No. Name Setting Range Default
b5-06 PID Output Limit 0.0 to 100.0% 100.0%
n b5-07: PID Offset Adjustment
Sets the offset added to the PID controller output as a percentage of the maximum frequency (E1-04).
No. Name Setting Range Default
b5-07 PID Offset Adjustment -100.0 to 100.0% 0.0%
n b5-08: PID Primary Delay Time Constant
Sets the time constant for the filter applied to the output of the PID controller. Normally, change is not required.
No. Name Setting Range Default
b5-08 PID Primary Delay Time Constant 0.00 to 10.00 s 0.00 s
Note: Useful when there is a fair amount of oscillation or when rigidity is low. Set to a value larger than the cycle of the resonant frequency.
Increasing this time constant may reduce the responsiveness of the drive.
n b5-09: PID Output Level Selection
Reverses the sign of the PID controller output signal. Normally a positive PID input (feedback smaller than setpoint) leads to
positive PID output.
4.12 Advanced Drive Setup Adjustments
YASKAWA ELECTRIC TOEP C710636 10B Z1000U HVAC MATRIX Drive User Manual 149
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Start-Up Programming & Operation