PID control, Speed feedback/positioning control

6.17 PID control

 ：Signal selection of PID control

 ：Delay filter

 ：Proportional (P) gain

 ：Integral (I) gain

 ：PID deviation upper limit

 ：PID deviation lower limit

 ：Differential (D) gain

6.18 Speed feedback/positioning control

 ：Number of PG input pulses

 ：Number of PG input phases

 ：PG disconnection detection

 ：Electronic gear

 ：Position loop gain

 ：Positioning completion range

 ：Frequency limit at position control

 ：Current control proportional gain

 ：Current control integral gain

 ：Speed loop proportional gain

 ：Speed loop integral gain

 ：Motor counter data selection

 ：Speed loop parameter ratio

6.19 Preset speed operation mode

 ～  ：Preset speed operation modes

Refer to 5.14 for details.

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Image 125

Toshiba VF-A7 instruction manual PID control, Speed feedback/positioning control,  ～  ：Preset speed operation modes

Contents

Peripheral Units ConnectionBasic Parameters Extended Symbols Meaning PrecautionsLimited applications Marking Handling in general Transportation・Installation Wiring About operation About inspection and maintenance When selecting the retry mode Applicable to invertersAbout disposal of inverters Sticking warning labels Ⅱ． Preface Features 200V-3.7kW Type Form Specification codePackage Name plate Special Panel description Indication alphabet Panel indicationIndication number Page VFA7-2300P, 4300P VFA7-4370P1～4550P1 VFA7-2185P, 2220P VFA7-4185P, 4220PGrounding terminal Page Page P24 Detaching the terminal board front cover Adjustment of overload protection level Comparison with commercial power operationOperation in low speed ranges High-speed operation at a frequency of 60 Hz or over Motor with a braking system Braking of a motor after power shutoffLoad producing negative torque Over-current protective function Power factor improving capacitorInverter capacity Use of an inverter at a voltage other than the rated one Measures to be taken Power supply InverterInfluences of leakage currents and measures against it Power supply Installation environment Resistor Installation place Installation For closed-type Applicable Calorific valueHeat radiation area Required Motor Inverter Page Normal attachment Heat-sink going out attachment Simple type Heat-sink going out attachmentsimple type Inverter, or the inverter could cause a shock or a fire Connection Prevention of radio noise Standard connection Standard connection diagram for sink logicminus commonMotor Main circuit Control panel Control Circuit ＊１ R20 ControlR20 R46 R46 R41 Main circuit terminals Explanation of terminals Inverter internal circuit Terminal symbolR0, S0 R46, R41, R20, S20 R20 S20 P0, PA, PB, PC, PA1,PB1,PR1 Control circuit terminals sink logicminus common Output Default setting Output current. Connect a 1mAdc Output Default setting Operation frequency commandInput Function Electrical Inverter internal Connect a 1mAdc full-scale ammeter or a Input Common P24 Output Common CC Switching logicCommon Input Common Programmable Inverter Controller Serial RS485 communication connector Could get a shock Motor is at a standstill, or you could get a shock Sensor vector control Optional Control modes of the VF-A7 inverter Example of typical connection Simple operation of the VF-A7 1 Speed control mode1Operation from the terminalexternal signals Speed setting mode selection parameter  at  Frequency setting）Setting the frequency by voltage signals 0 to 10 ）Setting the frequency by a current signal 4 to 20 mA Speed setting mode selection parameter  at  ）Setting the frequency by voltage signals 0 to 10 Vdc）Setting the frequency by voltage signals 0 to +/-10Vdc ：Start the motor Operation from the control panel ［Control panel operation］ Example of control panel operation Selecting a stop mode with the control panel Setting a control mode Simple operation of the VF-A7 2 Torque control mode S4 Control mode Switching RR switching When the motor is out of operation. If the monitor displayMode setting parameter  is set at Running Polarity of torque command Torque command Operation from the terminalexternal signalTorque control mode Start/stop Torque setting by means of voltage signals 0~10 Vdc Torque setting by means of current signals 4 to 20 mAdc）Torque setting by means of voltage signals 0~10 Vdc ）Torque setting by means of a volume control  Others  Selecting a torque command mode Setting the start and stop modesTorque command Operation from the control panel Example of control panel operation Set the torque commandＲＵＮ：Starts the motor Ｓｔｏｐ：Stops the motor Speed control mode Setting parameters Setting monitor modeTorque control mode Status monitor mode Setting monitor mode Procedure for setting a basic parameter How to set basic parameters Basic parameter Basic parameter list Procedure for setting an extended parameter How to set extended parameters When the motor is out of operation.If the monitor Example of parameter settingDisplay mode setting parameter  is set at Running frequency Searching for a parameter and changing its setting Basic parameters Parameters that cannot be changed during operation AM terminal meter adjustment FM terminal meter selection FM terminal meter adjustmentOptional analog terminal #1 meter adjustment Optional analog terminal #2 meter adjustment Automatic acceleration/deceleration Setting the acceleration and deceleration times ＝ ･ Function Change the parameter setting to  automatic Manually setting the acceleration and deceleration timesAcceleration/deceleration enabled by pressing key Time s  ：Automatic V/f mode setting Increasing starting torque/ energy-saving operation mode If you fail to make the setting for vector control VF-A7 inverter has been set to this control mode by default Selecting an operation mode Preset speed operation Mode selection Operation commandSpeed setting mode Title Function Set value  Panel stop pattern Speed setting Title Function Adjustment range Setting and calibrating meters・Function Terminal FM-related parameters Calibrating a meter when the inverter is out of operation Resolution Return the parameter setting to  output current display By setup, before the needle of meter begins to swayFrequency display mode.If the monitor display mode setting Set the parameter at  fixed output for meter  ：Standard setting mode selection Factory default settingHz standard setting  =  Hz standard setting  =  Reset of user-defined parameters  =  Factory default setting  = Trip clear  =  Clearing accumulating operation time  =  Maximum frequency Parameter setting：Forward/reverse selection ：Maximum frequency Base frequency Upper and lower limit frequencies：Upper limit frequency ：Lower limit frequency  ：Base frequency #1 ：Motor control mode selection Control mode selectionConstant torque characteristic Normal way of use Motor control ：The torque Boost rate is adjusted Setting suitable for fans and pumpsTo increase the starting torque Automatically Control by pressing the key Value. Default setting Constant torqueChange the parameter setting to Sensorless vector 5-point setting To set the V/F characteristic arbitrarily※100% adjustment value 200V class 200V,400V class        This control mode involves the setting of the motor constant ： Motor control mode selection Switching between speed control and torque controlSpeed setting  ～  Common serial communication option Torque reference Communication add-on cassette option  Binary/BCD inputoptional Parameter Title Function Adjustment range Setting the electronic thermal protective functionManual boost  ～ %  Setting the motor overload protection level #1  Setting the electronic thermal protective function Explanation of terms Overload stallSoft stall  ×1.0 ×0.6 Setting of motor overload start level Overload reduction start-up  ～ Hz Motor 150%-overload time limit  Inverter overload characteristicInverters overload protective characteristic Start/stop Preset-speed operation 15 speedsSetting preset-speed frequencies Reverse run command Forward run commandPreset-speed #1 Preset-speed #2 Setting the operation mode Low-speed signal Frequency signals・Output terminal setting ・Function P24-OUT2 Putting out signals of arbitrary frequencies・Function Changing standby signal function Selection of input signalsStandard Always-ON Forward ［ Disabled Terminal board has no priority ］Reverse =Stop Setting value Jog run Priority command from terminal board Operation command terminal board has priority Enabled  ：Binary/BCD signal selectionExpansion TB option unit Binary/BCD signal selectionExpansion TB option unitForced JOG forward rotation  Input terminal selection #8S4 Selection of terminal functions Signal on completion of acceleration/deceleration OUTKeeping an input terminal function always active on Changing input terminal functions Response times of input/output terminals Changing output terminal functionsRefer to 7.2.2 for details Refer to 7.2.3 for details Basic parameters #2 Setting of switching terminalsS1：V/f switching #1 S2：V/f switching #2 OFF S1V/f switching #1 S2V/f switching #2 Parameters selected Using two types of frequency speed commands Speed/torque command gain and bias has priority  has priority Frequency reference Command selected with  Setting torque reference characteristics Setting frequency command characteristics  Operation frequency Operating by means of reference signalsStart-up frequency and End frequency 3 0Hz dead band frequency DC injection braking DC injection braking  ：Motor shaft fixing control Motor shaft fixing controlBraking under normal conditions Forward/reverse DC braking priority control =OFF  ：Zero-speed stop mode selection Zero-speed stop mode selectionLED display  lights  lights  ～ Hz  ：Jog run frequency  ：Jog stop control Jog run ～ Hz Example of jog run  ～  ：Preset-speed #8～#15 Preset-speed #8～15Jump frequency Jumping resonant frequencies Refer to 5.14 for details Trip-less enhancement PWM carrier frequency ：PWM carrier frequency  Restart after a momentary power failure Set the mode of Auto-restartSet the control method of Auto-restart Restart of coasting motor Motor speed search function Adaptation for elevator applications 1Case ＝ Set the property of Auto-restart Regenerative power ride-through control / Deceleration stopCase = Case =～  ：Retry selection Retry function An internal braking resistor for 3.7kW model and smaller Dynamic regenerative braking To urgently stop the motor Dynamic braking resistor capacity  ～ Ω Any value An external braking resistor optionalClass Capacity kW 120W 70Ω 200 120W 40Ω 400 120W 150Ω 100  PBR resistor capacity When using a braking resistor without thermal fuseSupply  ～ Ω Any value Type Selection of braking resistor option and braking unitConnectable braking resistors and their minimum resistances Avoiding over-voltage trip Adjusting the output voltage and voltage compensation  ：Reverse-run prohibition Prohibiting the reverse operation Drooping Gain Drooping controlDead band Frequency  Speed at the drooping gain   ～ Hz Function for crane/hoist Commercial power/inverter switching  Timing chart  Speed feedback/positioning control  ～  ：Preset speed operation modesPID control Selection 1 Setting by the automatic V/f mode Setting motor constantsSet the auto-tuning ＝ Automatic tuning execution Refer to 5.2 for details of this setting Change the parameter setting to  Automatic tuning Setting parameter  is set at Running frequencyMotor is out of operation. If the monitor display momde  Press the Enter key to activate the parameter  Setting the rating of the motor ①Slip frequency gain  Setting motor constants Inverter VFA7 2037PL Motor 7kW, 4P, 60Hz Selection Examples of setting auto-tuning Torque reference Torque control～20mAdc ⇒ II terminal ～10Vdc ⇒ RR terminal Torque reference filter Voltage signal 0 ～± 10Vdc ：Torque reference filter ⇒ RX terminal Setting with the control panel Speed limits in torque control modeSetting of forward speed limit level Setting of reverse speed limit level Selection of external signals Setting by means of external signalsTorque bias and load sharing gain ―― 40 ～20mA × ＋  Voltage signals Current signals Power running /regenerative torque limit SettingSetting of power running torque Setting of regenerative torque Limiting the torque with external signals Power running Regenerative Regenerative Power runningPositive/negative torque limits  Torque Limit #1 Negative torque limit  RRvolume/ voltagePositive torque limit Selection Regenerative  Torque Limit Secondary acceleration/deceleration Slowly in weak-field areas where itMotor needs to be speeded up to Suitable for the operation Selection with parameters Switching of acceleration/deceleration #1, 2, 3 Acc/dec switching #1 Acc/dec switching #2 Output freq. Hz Setting freq Minimum acceleration/deceleration times Parameter settingAcceleration/deceleration patterns  ：Acceleration/deceleration lower limit Pattern run   ～ ＜Basic operating＞Monitor displayed during pattern run ④ ：select pattern group #4 Parameter setting Output frequency Hz Setting frequency Step trigger signal Setting of current stall Motor over road protection－level adjust / motor typesProtection functions Inverter trip holding Overload reduction start-up frequency Emergency stopMotors 150%-overload time limit Emergency stop by terminal operation Over-torque trip Detection of output phase failureAction at low currents Cumulative operation time alarm Cooling fan control mode selection ：Cooling fan control mode  ：Cumulative operation time alarm setting Over-voltage stall protection level System-supporting sequence B-timerUnder-voltage trip UV stall level Special analog input Additive over-ride Over-ride Output frequency = Reference + Over-rideVI input Hz Output frequency = Reference + Over-ride VI input HzOutput frequency = Reference × 1 + Over-rideVI input % Output frequency = Reference × 1 + Over-ride % Setting of optional meter outputs Setting of meter outputsMeter output Pulse output to meters  ：Prohibition of parameter setting Prohibiting the change of parameter settings ：Current / voltage display mode Control panel parameters  ：Frequency free unit magnification Display the motor speed and the load speedDisplay of the rotating speed of the motor Display of the speed of the load Switching basic parameters Changing items displayed in status monitor mode ：Selection of panel V/f1, 2, 3 or Time  0.01 s  Panel reset function Resetting the inverter from the control panelSelecting a control panel stop pattern  ：Panel stop pattern Setting a torque command in panel operation mode Canceling PID control in panel operation modeDrooping control in panel operation mode Override in panel operation mode Canceling methods SettingRestricting or prohibiting key operation  ：Panel operation prohibition Common serial optional device Communication function RS485/common serial＜Computer link＞＜Inter-drive communication＞  Operation command ～ Mode selection Setting of operation command common serialTerminal block enabled  Using the RS485 port fitted as standard Inter-drive communications ：Wiring ：Data （Host→Inverter）：Wiring ：Data （Master→slave） Setting of speed reference RS485 Setting of operation command RS485  External Operation Operation with External Signal Functions of input terminals in case of sink logic Setting of contact input terminal functionControl terminal board Connection method Example of use Push-type operation stop Inverter Acc/dec, V/f, torque limit #3 Table of contact input terminal function settingsAcc/dec, V/f, torque limit #2 Symbol Title Function Adjustment Default setting Setting of output terminal functionsLow speed signal Functions of output terminals in case of sink logic Parameter setting Or detected OFF All the alarms above are cancelled Over travel On Over running Output of the designated data in 7 bitsCompletion of positioning On Positioning has been completed OFF in positive logic Setup of response time Setup of input/output terminal operation timeResponse time setting Analog input filter Control terminal board Setup of external speed command analog signalSetting of analog input terminal functions ～ Setup by analog input signals RR terminalTitle Function Adjustment range  10V VI terminal Setup by analog input signals VI/II terminal Setup by analog input signals RX terminal Status monitor Status monitor mode Information on input terminals Type of connected option Information on output terminalsTotal accumulated operation hours   Changing status monitor function Changing indication of status with power onChanging contents of status monitor indication 1kW FE30 Output power 01kW Details of indications of trip status Indication in trip status Examples of reading out trip data Indication of alarm, pre-alarm, etc Failure, short-circuit or electric leak Selection of wiring equipment Inverter model Selection of wiring equipment Electromagnetic contactor in the primary circuit Installation of electromagnetic contactor Electromagnetic contactor in the secondary circuit Installation of overload relay VF-A7 Application and functions of optionsSorts of separate-type options Motor end surge RS-232C ⑬ communication converter unit Model RS2001Z RS-232C Communication Converter cable Selection table of separate-type options Table of optional add-on cassettes Optional add-on cassettesFunctions of optional add-on cassettes Table of optional add-on cassettes ＊ In a set with SBP002Z ②Expansion TB option unit＊ In a set with SBP001Z Board options Installation of board optionTable of board options Functions of board options Mandatory Before installing optional add-on cassette or board optionCase Prepare for installing according to 9.7.1, 1 to Case 2-A. When PG feedback function is usedCase 2-B. When PG feedback function is mot used Preparation is not needed Basic parameters 1/2 Basic parameters 2/2 Input signal selection Frequency signalExtended parameters Terminal function selection 1/2 Terminal function selection 2/2 Terminal response time setup Basic parameters #2 Point Setting Speed/torque reference gain/bias setup 1/2 Operation frequency Speed/torque reference gain/bias setup 2/2Braking Operation Tripless intensification setup 1/2 Preset speed operation frequency 8- to 15-stage speedJumper frequency PWM carrier frequency For lift 1/2 Tripless intensification setup 2/2Control Functions for lift 2/2 Commercial/inverter switching functionPID control Speed feedback/positioning control Vector control Preset-speed operation mode Torque control Motor constant Torque limit Speed/torque reference gain/bias setup #21/2 Secondary acceleration/deceleration Speed/torque reference gain/bias setup #22/2 Pattern run mode Patterned operation canceled during stop Pattern run selection Disabled, 1 Enabled  Continuation mode Preset-speed #1 operationPreset-speed #1 operation time ～8000 s / min Preset-speed #2 operation time Ditto Protection functions Meter output 1/2 Special analog inputOver-ride Control Panel parameters Meter output 2/2 Communication function1/2 Reservation area Communication function2/2 ［Contents of monitor indications］ Monitor FM/AM/pulse output function selection Input terminal function setting 1/2 = = =～ = ［Input terminal function setting 2/2］104 105 106 107 VI/II terminal priority 108 109 ［Output terminal function setting 1/2］［Output terminal function setting 2/2］ PWM Default settings Standard specifications by types Standard specifications by types large capacity types Common specifications Process, upper/lower limits FaultCauses Digit External dimensions and mass External dimensions and mass Drawing a Drawing B Outline drawingsDrawing C Drawing D Drawing E Drawing F Dimensions for heat-sink going out attachmentsimple type ･ Decrease setting value Indication Contents Expected causes CountermeasuresAlso reset the  ･ Extend acceleration time #1   Initial read-error ･ Reset the inverter Main RAM fault  Main ROM fault ･ If undervoltage is detected, set Presence or absence of parameter trip can be selected Setting signal apart from each ～ Caution! ～ Method of resetting causes of trip Make a service call Is input power Input power Correct?Is LED on RUN/STOP key Measures against trouble with parameter setting How to check other troubles Check points Regular inspectionInspection method By feel touch Periodical inspection Dealer for replacement of partPoints of inspection ･Dont replace any component part Standard period of years to replace main component parts Replacement of expendable parts When retaining the inverter out of operation When making a service call Warranty Disposing manner Blasting during incinerationPlastics