Table of Contents
Parameter
Parameter
Introduction
x.00
description format
NOTE
The PID function is only active if the output destination is routed to a valid unprotected parameter. If only the indicator parameters are required, the
destination parameter should be routed to an unused valid parameter.
14.01
PID output
Bit
SP
Coding
Range
±100%
Update rate
21 ms
This parameter monitors the output of the PID controller before scaling is applied. Subject to the PID output limits the PID output is given by:
Output = Pe + Ie/s + Des
Where:
P = proportional gain (Pr 14.10)
I = integral gain (Pr 14.11)
D = differential gain (Pr 14.12)
e = input error to the PID (14.22)
s = Laplace operator
Therefore with an error of 100% and P = 1.00 the output produced by the proportional term is 100%. With an error of 100% and I = 1.00 the output
produced by the integral term will increase linearly by 100% every second. With an error that is increasing by 100% per second and D = 1.00 the
output produced by the D term will be 100%.
14.02
PID main reference source
14.03
PID reference source
14.04
PID feedback source
Bit
SP
Coding
Range
Pr 0.00 to Pr 21.51
Default
Pr 0.00
Update rate
Read on drive reset
These parameters define the variables which are to be used as the input variables to the PID controller. Only valid parameters can be programmed as
a source. If a non valid parameter is programmed the input value is taken as 0. All variable inputs to the PID are automatically scaled to variables
having the range of ±100.0% or 0 to 100% (of the source parameter) if they are unipolar.
14.05
PID reference source invert
14.06
PID feedback source invert
Bit
SP
Coding
1
Range
OFF(0) or On(1)
Default
OFF(0)
Update rate
21 ms
These parameters can be used to invert the PID reference and source variables respectively.
14.07
PID reference slew rate limit
Bit
SP
Coding
Range
0.0 to 3200.0 s
Default
0.0
Update rate
Background
This parameter defines the time taken for the reference input to ramp from 0.0 to 100.0% following a 0 to 100% step change in input.
Commander SK Advanced User Guide
Issue Number: 9
Keypad and
Serial
display
communications
FI
DE
Txt VM DP ND
1
1
FI
DE
Txt VM DP ND
2
FI
DE
Txt VM DP ND
FI
DE
Txt VM DP ND
1
www.controltechniques.com
CT Modbus
PLC Ladder
RTU
programming
RA
NC
NV
PT
US RW BU
1
1
RA
NC
NV
PT
US RW BU
1
1
1
RA
NC
NV
PT
US RW BU
1
1
RA
NC
NV
PT
US RW BU
1
1
Advanced parameter
CTSoft
Menu 0
descriptions
PS
PS
1
PS
PS
1
Menu 14
167
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