P09.00

PID reference source

When the   frequency command selection (P00.06, P00. 07) is 7 or the voltage setting   channel selection (P04.27) is 6, the running mode of the VFD is procedure PID   controlled.

The parameter   determines the target given channel during the PID procures.

0: Keypad (P09.01)

1: AI1

2: AI2

3: AI3

4: HDI

5: Multi-step speed   set

6: Modbus   communication set

7: PROFIBUS/CANopen   communication set

8: Ethernet   communication set

9: Reserved

The   setting target of procedure PID is a relative one, 100% of the setting equals   to 100% of the response of the controlled system.

The   system is calculated according to the relative value (0–100.0%).

Note:

Set multi-step   speed, which can be compeleted by setting P10 group parameters.

For PROFIBUS,   Ethernet, and CANopen communication setting, corresponding extension cards   are needed.

0

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P09.01

Keypad PID preset

When   P09.00=0, set the parameter whose basic value is the response value of the   system.

Setting range: -100.0%–100.0%

0.0%

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P09.02

PID feedback source 

Select   the PID channel by the parameter.

0: AI1

1: AI2

2: AI3

3: HDI

4: Modbus   communication feedback

5: PROFIBUS/CANopen   communication feedback

6: Ethernet   communication feedback

7: Reserved

Note: The reference   and feedback channel cannot coincide, otherwise, PID cannot control   effectively.

0

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P09.03

PID output feature

0: PID   output is positive: when the feedback signal exceeds the PID given value, the   output frequency of the VFD will decrease to balance the PID. For example,   the strain PID control during wrapup

1: PID   output is negative: When the feedback signal is stronger than the PID given   value, the output frequency of the VFD will increase to balance the PID. For   example, the strain PID control during wrapdown

0

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P09.04

Proportional gain (Kp)

The   function is applied to the proportional gain P of PID input.

P   determines the strength of the whole PID adjuster. The parameter of 100 means   that when the offset of PID feedback and given value is 100%, the adjusting   range of PID adjustor is the Max. frequency (ignoring integral and   differential function).

Setting range: 0.00–100.00

1.00

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P09.05

Intergal time (Ti)

This   parameter determines the speed of PID adjustor to carry out integral   adjustment on the deviation of PID feedback and reference.

When the   deviation of PID feedback and reference is 100%, the integral adjustor works   continuously after the time (ignoring the proportional effect and   differential effect) to achieve the Max. Frequency (P00.03) or the Max. Voltage   (P04.31). Shorter the integral time, stronger is the adjustment

Setting range: 0.00–10.00s

0.10s

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P09.06

Differential time (Td)

This   parameter determines the strength of th e change ratio when PID adjustor   carries out integral adjustment on the deviation of PID feedback and   reference.

If the   PID feedback changes 100% during the time, the adjustment of integral   adjustor (ignoring the proportional effect and differential effect) is the   Max. Frequency (P00.03) or the Max. Voltage (P04.31). Longer the integral   time, stronger is the adjusting.

Setting   range: 0.00–10.00s

0.00s

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P09.07

Sampling cycle (T)

This   parameter means the sampling cycle of the feedback. The adjustor operates   each sampling cycle. The longer the sapling cycle is, the slower the response   is.

Setting range: 0.000–10.000s

0.100s

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P09.08

PID control deviation limit

The   output of PID system is the maximum deviation corresponding to close loop   reference. As shown in the diagram below, PID adjustor stops to work during   the deviation limit. Set the function properly to adjust the accuracy and   stability of the system.

Setting   range: 0.0–100.0%

0.0%

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P09.09

Output upper limit of PID

This   parameter is used to set the upper and lower limit of the PID adjustor   output.

100.0 %   corresponds to max. frequency or the max. voltage of ( P04.31)

Setting   range of P09.09: P09.10–100.0%

Setting range of   P09.10: -100.0%–P09.09

100.0%

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P09.10

Output lower limit of PID

0.0%

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P09.11

Detection value of feedback offline

Set the   detection value of feedback offline, when the feedback detection value is   smaller than or equals to the detected value, and the lasting time exceeds   the set value in P09.12, the VFD will report "PID feedback offline fault"   and the keypad will display PIDE.

Setting   range of P09.11: 0.0–100.0%

Setting   range of P09.12: 0.0–3600.0s

0.0%

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P09.12

Detection time of feedback offline

1.0s

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P09.13

PID adjustment

0x0000–0x1111

LED ones:

0: Keep on integral   adjustment when the frequency achieves the upper and low limit; the   integration shows the change between the reference and the feedback unless it   reaches the internal integral limit. When the trend between the reference and   the feedback changes, it needs more time to offset the impact of continuous   working and the integration will change with the trend.

1: Stop integral   adjustment when the frequency achieves the upper and low limit. If the   integration keeps stable, and the trend between the reference and the   feedback changes, the integration will change with the trend quickly.

LED tens: P00.08 is   0

0: The same with the   setting direction; if the output of PID adjustment is different from the   current running direction, the internal will output 0 forcedly.

1: Opposite to the   setting direction

LED hundreds: P00.08   is 0

0: Limit to the   maximum frequency

1: Limit to   frequency A

LED thousands:

0: A+B frequency, the   buffer of A frequency is invalid

1: A+B frequency,   the buffer of A frequency is valid

ACC/DEC is   determined by ACC time 4 of P08.04

0x0001

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P09.14

Proportional   gain at low frequency (Kp)

0.00–100.00

1.00

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P09.15

PID command of ACC/DEC time

0.0–1000.0s

0.0s

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P09.16

PID output filter time

0.000–10.000s

0.000s

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