Toshiba TOSVERT VF-AS3 User manual

E6582112
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Introduction
1
PID control
selection
2
Parameter list of
PID control
3
Setting for PID
control
4
PID control
adjustment
5
Analog input
characteristics
6
PID2 control
7
Parameter list of
PID2 control
8
External PID control
9
Parameter list of
external PID control
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PID control Instruction Manual
Note
1. Read this manual carefully before using the inverter. After reading, the user should
keep this manual at hand to use it for maintenance and inspection in the future.
2. Please be informed that the contents of this document may be changed without notice.

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Contents
1 Introduction ............................................................................................................................................................. 1-1
2 PID control selection ............................................................................................................................................... 2-1
2. 1 Process PID control ........................................................................................................................................ 2-1
2. 2 Speed PID control ........................................................................................................................................... 2-3
2. 3 Easy positioning PID control ........................................................................................................................... 2-5
2. 4 Dancer control ................................................................................................................................................ 2-8
3 Parameter list of PID control ................................................................................................................................... 3-1
4 Setting for PID control ............................................................................................................................................. 4-1
4. 1 Fundamental setting ....................................................................................................................................... 4-1
4. 1. 1 Feedback value ................................................................................................................................ 4-1
4. 1. 2 Set value ........................................................................................................................................... 4-5
4. 1. 3 Override function .............................................................................................................................. 4-9
4. 1. 4 Acceleration and deceleration time ................................................................................................ 4-10
4. 2 Set to suit the motor ...................................................................................................................................... 4-10
4. 3 Set to suit the system ................................................................................................................................... 4-11
4. 3. 1 Set if necessary .............................................................................................................................. 4-11
4. 3. 2 Switch PID characteristics .............................................................................................................. 4-11
4. 3. 3 Agreement between set value and feedback value ........................................................................ 4-12
4. 3. 4 Switch to frequency command operation ....................................................................................... 4-12
4. 3. 5 Deviation limit of PID control .......................................................................................................... 4-13
4. 3. 6 PID control with Sleep function ....................................................................................................... 4-13
4. 3. 7 Output power compensation function ............................................................................................. 4-15
4. 4 PID auto tuning function ............................................................................................................................... 4-16
5 PID control adjustment ........................................................................................................................................... 5-1
5. 1 Summary of adjustment .................................................................................................................................. 5-1
5. 2 Fundamental adjustment (common) ............................................................................................................... 5-1
5. 2. 1 Proportional (P) gain ......................................................................................................................... 5-2
5. 2. 2 Integral (I) gain ................................................................................................................................. 5-2
5. 2. 3 Differential (D) gain ........................................................................................................................... 5-2
5. 3 Applied adjustment (Common) ....................................................................................................................... 5-3
5. 3. 1 PID integral / differential reset .......................................................................................................... 5-3
5. 3. 2 PID control wait time ......................................................................................................................... 5-3
5. 4 Applied adjustment (for speed PID control) .................................................................................................... 5-3
5. 4. 1 Delay filter ......................................................................................................................................... 5-3
5. 4. 2 Set value increase time, decrease time ............................................................................................ 5-4
6 Analog input characteristics .................................................................................................................................... 6-1
7 PID2 control ............................................................................................................................................................ 7-1
8 Parameter list of PID2 control ................................................................................................................................. 8-1
9 External PID control ................................................................................................................................................ 9-1
10 Parameter list of external PID control ................................................................................................................... 10-1

VF-AS3 1. Introduction
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VF-AS3 has four types of PID control function. You can select the type for your application.
• Process PID control: For temperature or pressure control of fan and pump, which is performed
relatively gently in response to change the speed.
• Speed PID control: For speed control of machinery such as a winder, which is performed at high
speed in response to change the speed.
• Easy positioning PID control: For stop position control
• Dancer control: For dancer control of winder system
Additionally, "PID2 control" that controls PID optimally by switching between two different set values and feedback values,
and "External PID control" that outputs calculation results of PID control as numerical values or analog values to allow the
external equipment to use the inverter like a PID controller are provided.
This manual is constructed as follows;
Chapter 2: Explanation of four types of PID control
Chapter 3: Parameter list for PID control
Chapter 4: Setting parameters for PID control
Chapter 5: Adjustment for PID control
Chapter 6: Analog input characteristics
For PID control and PID 2 control, it is necessary to convert set value and feedback value into
frequency for setting.
Chapter 7: Explanation of PID 2 control
Chapter 8: Parameter list for PID 2 control
Chapter 9: Explanation of external PID control
Chapter 10: Parameter list for external PID control
1Introduction

VF-AS3 2. PID control selection
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Select one from the four types of PID control function for your application.
Process PID control is selected for temperature or pressure control of fan and pump which is performed gently in
response to change the speed.
[F359: PID control1] = "1: Process PID control" (Plus characteristic)
= "11: Minus Process PID control"
■Diagram
■ Parameter setting
Refer to chapter 4 and 5 for detail of parameter setting.
1) Select the input of set value and feedback value.
It is necessary to convert temperature or pressure into frequency for setting.
Frequency free unit conversion function enables to set the set value and the feedback value
easily. Refer to chapter 3 for detail.
2PID control selection
2. 1 Process PID control
Item Title Parameter name
Set value F389 PID1 set value select
FPId PID1 set value
(Only [F389]="12")
Feedback value F360 PID1 feedback input select
-
Set value
Feedback
value
Output
frequency
PID deviation
lower-limit
PID plus/minus
Delay filter
PID
control
Jump
frequency
Increase/
decrease rate
Output frequency
upper-limit
Output frequency
lower-limit
PID output
upper-limit
PID output
lower-limit
PID set value
upper-limit
PID set value
lower-limit
PID deviation
upper-limit
Normally, set
"Without filter"
[F389]
[F367] [F364] [F370]
[ACC], [dEC]
[ UL ]
[F368]
[F359]
[F360]
[F361]
[F365] [F371] [ LL ]

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2) Set the following parameters to suit the motor if necessary.
3) Set the following parameters to suit the system.
a) Set the acceleration time and deceleration time to short for quick response within the range not to
cause inverter trip.
b) Set the following parameters if necessary.
4) Adjust the PID control gain.
Refer to chapter 5 for detail.
a) Fundamental adjustment
Title Parameter name
FH Maximum frequency
UL Upper limit frequency
LL Lower limit frequency
F270 to F275 Jump frequency 1 to 3
F240 Start frequency
F241 Run frequency
F243 End frequency
Title Parameter name
ACC Acceleration time1
dEC Deceleration time1
Item Title Parameter name
Limit the input level of set
value.
F367 PID1 set value upper-limit
F368 PID1 set value lower-limit
Limit the level of PID output. F370 PID1 output upper-limit
F371 PID1 output lower-limit
Switch the PID plus/minus
characteristics.
F359 PID control1 (with selection of plus/minus)
[F359]= "1" : Plus characteristic
[F359]= "11" : Minus Process
Input terminal function "54/55: PID plus/minus switching"
Output of agreement signal
between set value and
feedback value.
F374 PID1 set value agreement detection band
Output terminal function "144/145: PID1,2 frequency
command agreement"
Item Title Parameter name
PID control gain F362 PID1 proportional gain
F363 PID1 integral gain
F366 PID1 differential gain

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VF-AS3 2. PID control selection
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b) Adjust the following parameter if necessary.
*1 Deviation means difference between the set value and the feedback value.
Speed PID control is selected for speed control of a winder to which fast response is required. Acceleration/
deceleration time is automatically set to the shortest time. It also responds much faster by controlling with the
increase/ decrease rate which is separated from acceleration/ deceleration time.
Delay filter is set to the feedback value for the stable operation.
[F359: PID control1] = "2: Speed PID control" (Plus characteristic)
■Diagram
■ Parameter setting
Refer to chapter 4 and 5 for detail of parameter setting.
1) Select the input of set value and feedback value.
It is necessary to convert tension level into frequency for setting.
a) Frequency free unit conversion function enables to set the set value and the feedback value easily.
Refer to chapter 3 for detail.
Item Title Parameter name
Steady the PID control. (Limit
the PID deviation*1)
F364 PID1 deviation upper-limit
F365 PID1 deviation lower-limit
Start the PID control after the
system becomes stable.
F369 PID control start wait time
2. 2 Speed PID control
Item Title Parameter name
Set value F389 PID1 set value select
FPId PID1 set value
(Only [F389]="12")
Feedback value F360 PID1 feedback input select
PID
control
Jump
frequency
-
Set value
Feedback value
Increase/
decrease rate
Output frequency
upper-limit
Output frequency
lower-limit
PID output
upper-limit
PID output
lower-limit
PID set value
upper-limit
PID set value
lower-limit
Output
frequency
Delay filter
PID deviation
upper-limit
PID deviation
lower-limit
PID plus/minus
[F367]
[F372], [F373]
[F368] [F371] [ LL ][F365]
[F389]
[F360]
[F361]
[F364] [F370] [ UL ]

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b) It is possible to add or multiply for set value by override function.
2) Set the following parameters to suit the motor if necessary.
3) Set the following parameters to suit the system.
Speed PID control set the acceleration time and the deceleration time to the smallest
automatically regardless of parameter ([ACC], [dEC]) setting.
Set the following parameters if necessary.
Note) If speed PID is selected, motor is possibly rotating forward and reverse. If you don't want to rotate
reverse, set [F311: Reverse inhibited] or select process PID ([F359]="1", or "11").
4) Adjust the PID control gain.
Refer to chapter 5 for detail.
a) For fundamental adjustment.
Item Title Parameter name
Addition F660 Override adding input select
Multiplication F661 Override multiplying input select
Title Parameter name
FH Maximum frequency
UL Upper limit frequency
LL Lower limit frequency
F270 to F275 Jump frequency 1 to 3
F240 Start frequency
F241 Run frequency
F243 End frequency
Item Title Parameter name
Limit the input level of set
value.
F367 PID1 set value upper-limit
F368 PID1 set value lower-limit
Limit the level of PID output. F370 PID1 output upper-limit
F371 PID1 output lower-limit
Output of agreement signal
between set value and
feedback value.
F374 PID1 set value agreement detection band
Output terminal function "144/145: PID1,2 frequency
command agreement "
Item Title Parameter name
PID control gain F362 PID1 proportional gain
F363 PID1 integral gain
F366 PID1 differential gain

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b) Adjust for stability, and quick response.
*1 Deviation means difference between the set value and the feedback value.
Easy positioning PID control is selected to retain the stop position in the vector control with speed sensor.
When [Pt: V/f Pattern] = "10" or "11", the easy positioning control is entered with the input terminal assigned [72:
Simple positioning] turned on, considering the point as zero positional deviation.
When the PG input pulse number is within the setting value of [F381: Simple positioning completion range] during the
easy positioning control, a signal can be output from the output terminal to which [118: Stop positioning completion] is
assigned.
[F359: PID control1] = "3: Easy positioning PID control" (Plus characteristic)
■Diagram
* While the [72: Simple positioning] signal is not input, the PID control is not executed.
When the simple positioning signal is input, the PID control is executed so that a stop occurs at the position at
which the signal is input.
Item Title Parameter name
Steady the PID control (Feedback
filter)
F361 PID1 filter
Steady the PID control. (Limit the PID
deviation*1)
F364 PID1 deviation upper-limit
F365 PID1 deviation lower-limit
Adjust for quick response F372 PID1 set value increase time
F373 PID1 set value decrease time
Start the PID control after the system
becomes stable.
F369 PID control start wait time
2. 3 Easy positioning PID control
PID
control
Jump
frequency
-
Set value
0
Feedback
frequency
PID plus/minus
Output frequency
upper-limit
Output frequency
lower-limit
PID output
upper-limit
PID output
lower-limit
Output
frequency
∫"72: Simple positioning" signal
0: Integral clear
1: Integral start
PID deviation
upper-limit
PID deviation
lower-limit
Position/
frequency
conversion
PID control starts after
"72: Simple positioning"
ON
[F364] [F370] [ UL ]
[F365] [F371] [ LL ]

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■ Parameter setting
Refer to chapter 4 and 5 for detail of parameter setting.
1) Set parameters of PG after [Pt]= "10" or "11" setting. Set [240],[F241],[F243] = "0.0(Hz)".
Note 1) Set [240], [F241], [F243] = "0.0(Hz)".If the setting value is different, a 0Hz command
cannot be output, resulting in incorrect operation of the easy positioning PID control.
Set value and feedback value are below. (not select)
2) Set the following parameters to suit the motor if necessary.
3) Set the following parameters to suit the system.
Title Parameter name
Pt V/f Pattern
F375 PG pulses number
F376 PG select
F377 PG option disconnection detection
F379 PG option voltage
F240 Start frequency
F241 Run frequency
F243 End frequency
Item Function
Set value 0 (pulse)
Feedback value Current position (Pulse number from the set value)
Title Parameter name
FH Maximum frequency
UL Upper limit frequency
LL Lower limit frequency
Item Title Parameter name
Limit the level of PID output. F370 PID1 output upper-limit
F371 PID1 output lower-limit
Output of agreement signal
between set value and
feedback value.
F381 Simple positioning completion range
Output terminal function "118/119: Stop positioning
completion"

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4) Adjust the PID control gain.
Refer to chapter 5 for detail.
a) For fundamental adjustment.
b) Adjust the following parameter if necessary.
* The deviation is a current position converted into a frequency which is obtained by the
following formula.
■ Operation sample
Use this for positioning of machinery, etc. Decelerate from a top speed and operate at a creep speed around
the set position. When the set position is reached and the [72: Simple positioning] signal is turned on,
machinery reciprocates around the set position and finally stops at the set position.
Note 1) Executing the stop position retaining control with high-speed operation may cause an over current trip,
overvoltage trip, etc. Pass on to low-speed operation and then turn on the simple positioning signal.
Item Title Parameter name
PID control gain F362 PID1 proportional gain
F363 PID1 integral gain
F366 PID1 differential gain
Item Title Parameter name
Steady the PID control.
(Limit the PID deviation*1)
F364 PID1 deviation upper-limit
F365 PID1 deviation lower-limit
[F375: PG pulse number]
Current position (pulse) x Number of motor poles
Deviation=
*1
Terminal [F]
(Run command)
Terminal [S1]
(Preset speed switching 1)
Terminal [S2]
(Preset speed switching 2)
Terminal [S3]
(Simple positioning)
0Times (s)
Output frequency (Hz)
[F381: Simple positioning
completion range]
*1
Easy positioning
PID control
Preset speed 1
Preset speed 2
ON
OFF
ON
OFF
ON
OFF
ON
OFF

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■ Trouble shooting
If an overvoltage trip occurs during deceleration of the stop position retaining control, make the value of [F362:
PID1 proportional gain] smaller. The deceleration time will become longer.
Note 1 [dEC: Deceleration time 1] setting is invalid during easy positioning PID control.
Dancer control is selected for dancer positioning control of winder system.
[F359: PID control1] = "4: Dancer control" (Plus characteristic)
■ System image
2. 4 Dancer control
Decrease
[F362: PID1 proportional gain]
Overvoltage trip
(during deceleration)
[OP2] or [OP3]
Acceleration
Time (s)
Output frequency (Hz)
Time (s)
Output frequency (Hz)
Acceleration
Deceleration
Inverter Inverter
Speed reference
0-10V input, etc
Dancer detection value
4-20mA input, etc
Dancer position
0-10V input, etc

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■Diagram
■ Dancer control operation
1) Inverter operates by speed reference.
2) PID control: Set value: dancer position
Feedback value: dancer detection value
Correct speed reference by deviation of PID control for dancer.
Set the dead band for the deviation if necessary.
3) When you don’t need dancer correction, turn the input terminal assigned "36: PID control OFF" ON.
In case the input terminal ON, the PID output is zero. The inverter operates by frequency command.
4) To keep the current value of dancer correction frequency, turn on the input terminal to which [94:
Dancer correction OFF] is assigned.
In this case, the PID output is kept the value at which the dancer correction OFF signal is input.
■ Parameter setting
Refer to chapter 4 and 5 for detail of parameter setting.
1) Select the input of dancer position (set value) and dancer detection value (feedback value).
Set each level converted into frequency for the setting.
Set the dead band for deviation between set value and feedback value if necessary.
Item Title Parameter name
Speed reference FMOd Frequency command select 1
F207 Frequency command select 2
Feedback value F360 PID1 feedback input select
PID output dead band F388 PID1 output dead band
PID
control
Jump
frequency
-
Set value
(Dancer
position)
Feedback value
(Dancer detection value)
PID plus/minus
Output frequency
upper-limit
Output frequency
lower-limit
PID output
upper-limit
PID output
lower-limit
PID set value
upper-limit
PID set value
lower-limit
Output frequency
Deviation dead band
+
+
Speed reference
[FMOd/F207]
PID deviation
upper-limit
PID deviation
lower-limit
Dancer correction OFF
(94/95)
Increase/
decrease rate
[F367]
[F389]
[F368]
[F360]
[F365] [F371]
[F388] [F364] [F370]
[ UL ]
[ LL ]
[ACC], [dEC]

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Frequency free unit conversion function enables to set the set value and the feedback value easily. Refer to
chapter 3 for detail.
2) Set the following parameters to suit the winder system if necessary.
3) Set the following parameters to suit the motor if necessary.
4) Set the following parameters to suit the system.
a) Set the acceleration time and deceleration time to short for quick response within the range not to
cause inverter trip.
b) Set the following parameters if necessary.
5) Adjust the PID control gain.
Refer to chapter 5 for detail.
a) Fundamental adjustment
Item Title Parameter name
Operation by speed
reference only (Dancer
correction OFF)
Input terminal function "94/95: Dancer correction OFF"
Inhibit the reverse-run F311 Reverse inhibited
Title Parameter name
FH Maximum frequency
UL Upper limit frequency
LL Lower limit frequency
F270 to F275 Jump frequency 1 to 3
F240 Start frequency
F241 Run frequency
F243 End frequency
Title Parameter name
ACC Acceleration time 1
dEC Deceleration time 1
Item Title Parameter name
Limit the input level of set
value.
F367 PID1 set value upper-limit
F368 PID1 set value lower-limit
Limit the level of PID output. F370 PID1 output upper-limit
F371 PID1 output lower-limit
Switch the PID plus/minus
characteristics.
Input terminal function "54/55: PID plus/minus switching"
Output of agreement signal
between set value and
feedback value.
F374 PID1 set value agreement detection band
Output terminal function "144/145: PID1,2 frequency
command agreement"

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b) Adjust the following parameter if necessary.
*1 Deviation means difference between the set value and the feedback value.
Item Title Parameter name
PID control gain F362 PID1 proportional gain
F363 PID1 integral gain
F366 PID1 differential gain
Item Title Parameter name
Steady the PID control. (Limit
the PID deviation*1)
F364 PID1 deviation upper-limit
F365 PID1 deviation lower-limit
Start the PID control after the
system becomes stable.
F369 PID control start wait time

VF-AS3 3. Parameter list of PID control
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3Parameter list of PID control
Title Parameter name Adjustment range Default setting
FMOd Frequency command select 1 0: -
1: Terminal RR
2: Terminal RX
3: Terminal II
4: Terminal AI4 (option)
5: Terminal AI5 (option)
6 - 9: -
10: Touch wheel 1 (power off or press OK to
save)
11: Touch wheel 2 (press OK to save)
12: Sr0
13,14: -
15: Terminal Up/Down frequency
16: Pulse train
17: High resolution pulse train (option)
18,19: -
20: Ethernet
21: RS485 communication (connector 1)
22: RS485 communication (connector 2)
23: Communication option
1
FH Maximum frequency 30.0 - 590.0 (Hz) *1
UL Upper limit frequency 0.0 - FH (Hz) 50.0/
60.0 *1
LL Lower limit frequency 0.0 - UL (Hz) 0.0
ACC Acceleration time 1 0.0 - 6000 (s) 10.0 *1
dEC Deceleration time 1 0.0 - 6000 (s) 10.0 *1
Sr0
toSr7
Preset speed 0 to 7 LL - UL (Hz) 0.0
FPId PID1set value F368 - F367 (Hz) 0.0
F201 RR point 1 input value 0 - 100 (%) 0
F202 RR point 1 frequency 0.0 - 590.0 (Hz) 0.0
F203 RR point 2 input value 0 - 100 (%) 100
F204 RR point 2 frequency 0.0 - 590.0 (Hz) 50.0/
60.0 *1
F207 Frequency command select 2 Same as FMOd 3
F210 RX point 1 input value -100 to +100 (%) 0
F211 RX point 1 frequency 0.0 - 590.0 (Hz) 0.0
F212 RX point 2 input value -100 to +100 (%) 100
F213 RX point 2 frequency 0.0 - 590.0 (Hz) 50.0/
60.0*1
F216 II point 1 input value 0 - 100 (%) 20
F217 II point 1 frequency 0.0 - 590.0 (Hz) 0.0

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F218 II point 2 input value 0 - 100 (%) 100
F219 II point 2 frequency 0.0 - 590.0 (Hz) 50.0/
60.0*1
F240 Start frequency 0.0 - 10.0 (Hz) 0.1
F241 Run frequency 0.0 - FH (Hz) 0.0
F243 End frequency 0.0 - 30.0(Hz) 0.1
F256 Run sleep detection time 0.0 - 600.0(s) 0.0
F270 Jump frequency1 0.0 - FH (Hz) 0.0
F271 Jump frequency 1 band 0.0 - 30.0(Hz) 0.0
F272 Jump frequency2 0.0 - FH (Hz) 0.0
F273 Jump frequency 2 band 0.0 - 30.0(Hz) 0.0
F274 Jump frequency3 0.0 - FH (Hz) 0.0
F275 Jump frequency 3 band 0.0 - 30.0(Hz) 0.0
F311 Reverse inhibited 0 - 4 0
F359 PID control1 0: Disabled
1: Process PID control
2: Speed PID control
3: Easy positioning PID control
4: Dancer control
5 - 10: -
11: Minus Process PID control
12 - 14: -
0
F360 PID1 feedback input select 0: -
1: Terminal RR
2: Terminal RX
3: Terminal II
4: Terminal AI4 (option)
5: Terminal AI5 (option)
6 - 15: -
16: Pulse train
17: High resolution pulse train (option)
0
F361 PID1 filter 0.0 - 25.0 (s) 0.0
F362 PID1 proportional gain 0.01 - 100.0 0.30
F363 PID1 integral gain 0.01 - 100.0 (s-1)0.20
F364 PID1 deviation upper-limit LL - UL (Hz) 50.0/
60.0*1
F365 PID1 deviation lower-limit LL - UL (Hz) 50.0/
60.0*1
F366 PID1 differential gain 0.00 - 2.55 (s) 0.00
F367 PID1 set value upper-limit 0.0 - FH(Hz) 50.0/
60.0*1
F368 PID1 set value lower-limit 0.0 - F367(Hz) 0.0
F369 PID control start wait time 0 - 2400 (s) 0
F370 PID1 output upper-limit LL - UL (Hz) 50.0/
60.0*1
F371 PID1 output lower-limit LL - UL (Hz) 0.0
Title Parameter name Adjustment range Default setting