Mitsubishi Electric A800 Plus Series Function Manual page 90

Gain switchover according to the PID deviation (Pr.486 to Pr.494)
• The gain can be switched according to the amount of the deviation from the set point included in the measured value
(dancer feedback signal).
• Value G in the PID control formula can be changed according to the deviation of the PID control input.
PID control formula:
• When "9999" is set in Pr.490 to Pr.494, the gain is 100%.
• To use the gain switchover function, set a value other than "9999" in both Pr.488 and Pr.489. If "9999" is set in either or
both of the parameters, "9999" is applied to all gains (A to D).
• Set Pr.486 to Pr.489 so that A>C1
C1 and C2 becomes valid.
Gain G
Gain A (Pr.490)
Gain B (Pr.491)
Gain C1 (Pr.492)
Gain C2 (Pr.493)
Gain D (Pr.494)
+100% Deviation A
(Pr.486)
1
G Kp (1 + + Td S)
· ·
Ti S
·
Gain Kp = 1/proportional band
Ti = Integral time
Td = Differential time
Gain G = PID gain selection function
C2>B is true. Otherwise, a write error occurs. When C1 = C2, larger gain between gain
≥
Deviation C1 0% Deviation C2
(Pr.488) (Pr.489)
Dancer feedback speed control details
Deviation input
Deviation B -100%
(Pr.487)
DANCER FEEDBACK SPEED CONTROL
3
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