YASKAWA SK-PID1-L503 User manual

DWG. NO. 02Y00025-0346
SHEET NO. 1 OF 10
EFF. 6/12/92 (m-df)
For GPD 503 Adjustable
Frequency Drives
CT: 1-30HP, 230V; 1-60HP, 460V
VT: 1-40HP, 230V; 1-75HP, 460V
CHANGE RECORD
1 STD-5297 8-13-92
2 STD-5523 5-12-93
PID Software Kit
Part No. SK-PID1-L503
DESCRIPTION
The PID Software Kit consists of two EPROMs and this
instruction sheet. It allows the user to modify a "Low
Horsepower" rated GPD 503 drive so it will have PID
capability; that is, it will be able to regulate a controlled
variable such as speed, pressure, flow, etc., by
comparing a feedback signal to a reference signal. It
then performs the necessary calculations on the
difference between the two signals (error) in order to
compensate for the dynamic changes in the system.
After changing out the EPROMs to introduce the PID
algorithm into the GPD 503, some of the functions from
the standard EPROM set are no longer available. These
include:
• Frequency reference memory settings
An-05 through An-08
• Settings 0C and 05 for Sn-15 through Sn-18
• Slip compensation (bn-08, Cn-34, Cn-35).
The reference input and feedback input connections
needed for PID operation depend on whether or not the
AI-14B option card (Model No. DS387) is present.
Although the card is not a requirement for PID operation,
its presence allows greater flexibility of the reference
input connection.
The function of the GPD 503 control circuit with the PID
software in place can be understood by studying the
block diagrams in Figures 1, 2 or 3.
Figure 1 shows operation without the AI-14B card. The
reference (setpoint) is either an input signal at term. 16
or a memory setting (An-01 through An-04, or An-09).
The feedback input is at either terminal 13 or 14,
depending on the type of signal used. The feedback
signal is eventually subtracted from the reference signal
to produce an error signal. The PID algorithm processes
this error signal. The output from the PID algorithm
commands the drive to output a specific frequency.
Operation with the AI-14B card (Figures 2 & 3) is similar.
The reference (setpoint) input is either an input signal at
terminal 13, 14 or 16, or a memory setting (An-01 thru
An-04, or An-09). The feedback input is channel 1,
channel 2, and/or channel 3 of the AI-14B card.
INSTALLATION
CAUTION
This option contains electrostatic sensitive
devices. Personnel must be properly grounded
before removing and installing carton contents.
1. Turn off all electrical power to drive.
2. Remove drive front cover. Verify that CHARGE
indicator lamp inside drive is off.
3. Use a voltmeter to verify power has been discon-
nected at incoming power terminals (L1, L2 & L3).
WARNING
Hazardous voltage can cause severe injury or death.
Lock all drive power sources in “OFF ” position.

DWG. NO. 02Y00025-0346 SHEET NO. 2 OF 10 EFF. 6/12/92 (m-df)
Refer to Sheet 1 for latest change.
16
SETPOINT (CLOSED LOOP)
FREQ. REFERENCE (OPEN LOOP)
INPUT
0 - 10V
FEEDBACK
INPUT
13
14
0 - 10V
4 - 20mA
KGAIN
bn-13
1
0
Sn-04 X X X X
An-01
An-02
An-03
An-04
An-09
Multi-step selection
(by multi-function inputs)
JOG Freq
Sn-13
X X X X
+
–
bn-14
ITIME
bn-15
DTIME
bn-16
+
+
+
PID LIMIT
Cn-43
+
bn-17
Cn-44
SFS
Fout
I LIMIT
Cn-45
PGAIN
OFFSET
PRIMARY
DELAY TIME
+
+
1
0
+
Open Loop
Closed Loop
PID
MONITOR
Un-12
FEEDBACK
MONITOR
Un-11
Notes:
1. When multi-function input is
not used, drive operates in closed
loop.
2. When closed loop / open
loop multi-function input is used:
Input Open = closed loop
Input Closed = open loop.
Figure 1. PID Control Block Diagram Without AI-14B, and Sn-19 = 9.

DWG. NO. 02Y00025-0346 SHEET NO. 3 OF 10 EFF. 6/12/92 (m-df)
Refer to Sheet 1 for latest change.
SETPOINT (CLOSED LOOP)
FREQ. REFERENCE (OPEN LOOP)
INPUT
0 - 10V
FEEDBACK INPUT
13
14
0 - 10V
4 - 20mA
KGAIN
bn-13
1
0
Sn-04 X X X X
An-01
An-03
An-04
An-09
Multi-step selection
(by multi-function inputs)
JOG Freq
Sn-13
X X X X
+
–
bn-14
ITIME
bn-15
DTIME
bn-16
+
+
+
PID LIMIT
Cn-43
+
bn-17
Cn-44
SFS
Fout
I LIMIT
Cn-45
PGAIN
OFFSET
PRIMARY
DELAY TIME
+
+
1
0
+
Open Loop
Closed Loop
PID
MONITOR
Un-12
FEEDBACK
MONITOR
Un-11
Notes:
1. When multi-function input is
not used, drive operates in closed
loop.
2. When closed loop / open
loop multi-function input is used:
Input Open = closed loop
Input Closed = open loop.
0 < Sn-19 < 9
Sn-19 = 0
An-02
16
CH 1
CH 2
CH 3
AI-14B
CARD
1
10
+
+
+
Figure 2. PID Control Block Diagram With AI-14B, and Sn-19 < 9

DWG. NO. 02Y00025-0346 SHEET NO. 4 OF 10 EFF. 6/12/92 (m-df)
Refer to Sheet 1 for latest change.
OFFSET (CLOSED LOOP)
FREQ. REFERENCE (OPEN LOOP)
INPUT
0 - 10V
FEEDBACK INPUT
13
14
0 - 10V
4 - 20mA
KGAIN
bn-13
1
0
Sn-04 X X X X
An-01
An-03
An-04
An-09
Multi-step selection
(by multi-function inputs)
JOG Freq
Sn-13
X X X X
+
–
bn-14
ITIME
bn-15
DTIME
bn-16
+
+
+
PID LIMIT
Cn-43
+
bn-17
Cn-44
SFS
Fout
I LIMIT
Cn-45
PGAIN
OFFSET
PRIMARY
DELAY TIME
+
+
1
0
+
Open Loop
Closed Loop
PID
MONITOR
Un-12
FEEDBACK
MONITOR
Un-11
Notes:
1. When multi-function input is
not used, drive operates in closed
loop.
2. When closed loop / open
loop multi-function input is used:
Input Open = closed loop
Input Closed = open loop.
An-02
16
CH 1
CH 2
CH 3
AI-14B
CARD
SETPOINT INPUT
1
10
+
+
+
Figure 2. PID Control Block Diagram With AI-14B, and Sn-19 = 9

DWG. NO. 02Y00025-0346
SHEET NO. 5 OF 10
EFF. 6/12/92 (m-df)
Refer to Sheet 1 for latest change.
4. See Figure 4. Remove the standard EPROM set and
install the PID EPROM set as shown. Be sure to locate U5
and U6 in their proper place with notches facing left!
Failure to do this will ruin the EPROMs.
5. Connect feedback and external setpoint (if used)
signals. If the AI-14B card is not used (see Figure 5), the
feedback signal will be at terminal 13 (0-10 Vdc) or
terminal 14 (4-20 mA dc), with terminal 17 being common
for both. If the AI-14B option card is used, it will be the
connection point for the feedback signal (see Figures 2
and 3 and separate instruction sheet 02Y00025-0296).
NOTE
The setpoint (reference) need not come from an external
signal; it can also come from an internal memory setting
(An-01 through An-04, or An-09) selected by multi-
function inputs.
NOTE
If the drive is part of a system such as bypass, its signal
connections may be at auxiliary terminal blocks. See
schematic diagram supplied with your order.
6. Replace the front cover. Apply power to the drive.
A " CPF04 " fault code will appear on the Digital Operator
display. A constant initialization (i.e. reset) must be
performed, by entering 1110 (for 2-Wire control) or 1111
(for 3-Wire control) at Sn-03. (See para. 2.25 in technical
manual TM 4231 if not familiar with this procedure.)
2-Wire control is for maintained contact run/stop control;
3-Wire control is for momentary contact run/stop control.
7. Make changes to the constants to suit your application.
Refer to programmable features descriptions in Section 2,
or constant tables in Appendix 1 of the GPD technical
manual, TM 4231.
IMPORTANT
Once the constant initialization for the PID software
EPROM set has been performed, certain constants are
redefined or given new “factory settings” different from
those listed in Appendix 1 or within description para-
graphs in Section 2 of the GPD technical manual. Review
the PID CONSTANT SETTINGS section at the end of this
instruction sheet before programming any constants.
IMPORTANT
The constant initialization performed in step 6 sets
Sn-19 to 00 ; PID software is disabled. Sn-19 must be set
to value 09 , or AI-14B card must be installed, in order to
enable the PID algorithm.
PID ADJUSTMENTS
Constants related to the PID algorithm (as identified in
Figures 1, 2 and 3) have default values (i.e. “factory
settings”) as listed in the PID CONSTANT SETTINGS
section at the end of this instruction sheet. It may be
necessary to adjust these to suit your application.
Proportional Gain, Integral Time and Derivative Time
adjustments are somewhat interactive. Fine tuning may be
required. In general, the Proportional Gain will affect the
rise time; the Integral Time will affect the steady state
error; and the Derivative Time will affect the overshoot.
Each of these settings also has a significant effect on
system stability.
Figure 4. Installation of PID EPROM Set in GPD 503
FRONT
COVER
U6
DIGITAL
OPERATOR
MAIN
CONTROL
BOARD
U5
INSTALLATION - Continued

DWG. NO. 02Y00025-0346
SHEET NO. 6 OF 10
EFF. 6/12/92 (m-df)
Refer to Sheet 1 for latest change.
Figure 5. Setpoint (Reference) and Feedback Signal Connections
When PID EPROM Set Is Used Without AI-14B Option Card
GPD 503
15
16
17
12
14
13
+15 Vdc
(20mA MAX)
REF. IN
(0 TO 10Vdc)
4-20mA
(250Ω)
0 TO 10Vdc
(20KΩ)
COM
SHIELD
SIGNAL TRIM
1R*
SETPOINT
(closed loop)
or
FREQUENCY
REFERENCE
(open loop)
1RH*
ISOLATED
FEEDBACK
(closed loop)
or
Not Used
(open loop)
(2KΩ)
(2K / 2.5KΩ)
4-20mA
0-10Vdc

Refer to Sheet 1 for latest change.
DWG. NO. 02Y00025-0346
SHEET NO. 7 OF 10
EFF. 6/12/92 (m-df)
PID CONSTANT SETTINGS
The following is a listing of changes in constants and
programmable features as a result of installing the PID
Software EPROM set and performing constant initialization.
All of these changes should be noted in your TM 4231.
In addition, it may be helpful to also annotate those reference
paragraphs in Section 2 where the change in constant
definition or factory setting will have some effect.
for Page 2-2:
for Page 2-21:
Slip Compensation – (Not available in PID) 2.26 2-41
PID Control ♦
♦Refer to separate Option Instruction Sheet 2Y25-0346.
10 Control Section PROM I70 I6
(last 5 digits of PROM ( LHP – PID )
Part No. :
LHP: NSG 6XXXXX
11 Feedback Signal Monitor I00.00
12 PID Monitor – I00.0
for Page 2-22:
09 PID algorithm enabled GPD 503 controls output frequency using
PID algorithm (see instruction sheet
2Y25-0346)
0A - 0F Not Used
* FBIAS1 and FBIAS2 are based on Fmax (Cn-02).
(Continued)

Refer to Sheet 1 for latest change.
DWG. NO. 02Y00025-0346
SHEET NO. 8 OF 10
EFF. 6/12/92 (m-df)
for Page 2-25:
for Page A1-1:
for Page 2-26:
03 Multi-step speed ref. 1
04 Multi-step speed ref. 2 See paragraph 2.24
05 Not Used
0C Not Used
64 Not Used
65 Integral Value Reset Closed = Integral Value Reset
66 Closed Loop / Open Loop Closed = Open Loop
67 to 6F Not Used
0C Feedback signal lost Closed = Feedback signal is lost (when feedback signal loss
detection is enabled)
0d Braking resistor fault Closed = Braking resistor is overheating or has faulted
0E Fault Closed = GPD 503 fault has occurred (except CPF00, CPF01)
0F Not Used
HHP : 10 Minor fault Closed = Minor fault
HHP : 11 During reset signal input Closed = During reset signal input from terminal 4, Digital Operator
or CP-213 option card
An-05 Not Used
An-06 Not Used
An-07 Not Used
An-08 Not Used
bn-05 Auto Signal Gain 0.1 % 0 - 1000.0 100.0 (2)
bn-06 Auto Signal Bias 1 % –100 to 100 0 (2)
bn-08 Not Used
for Page A1-2:
for Page 2-30:
2-30

Refer to Sheet 1 for latest change.
DWG. NO. 02Y00025-0346
SHEET NO. 9 OF 10
EFF. 6/12/92 (m-df)
Sn-13 PID Charac- XXXX 0 Frequency output = PID out- - -
teristics put when PID perfroms.
1 Frequency output = PID out-
put + Fref when PID performs.
XXXX 0 P value is calculated after
open loop is selected by
multi-function input.
1 P value is zero after open
loop is selected by multi-
function input.
XXXX 0 I value is calculated after
open loop is selected by
multi-function input.
1 I value is zero after open
loop is selected by multi-
function input.
XXXX — Not Used
for Page A1-6:
bn-13 PID Feedback Signal Gain 0.01 0.00 - 10.00 1.00 (2)
bn-14 PID Proportional Gain 0.1 0.0 - 25.5 1.0 (2)
bn-15 PID Integral Time 0.1 s 0.0 - 999.9 10.0 (2)
bn-16 PID Derivative Time 0.01 s 0.00 - 1.00 0.00 (2)
bn-17 PID Output Offset 1 % 0 - 100 0 (2)
HHP: bn-18 Analog Monitor Ch. 2 Gain 0.001 0.000 - 10.000 0.50 (1)
(1) Refer to separate Option Instruction Sheet.
(2) Refer to Option Instruction Sheet 2Y25-0346.
for Page A1-2 (continued):
(Continued)
Sn-08 (Cont'd) XXXX 0 Feedback signal loss detection ■
enabled when PID is enabled.
1 Feedback signal loss detection
is disabled.
XXXX 0 Operation stops when feed- ■
backloss is detected.
"LOSFb" is displayed.
1 Operation continued when
feedback loss is detected. No
alarm condition is displayed.
for Page A1-5:

DWG. NO. 02Y00025-0346
SHEET NO. 10OF 10
EFF. 6/12/92 (m-df)
Refer to Sheet 1 for latest change.
Un-11 Feedback Signal Monitor I0 0.00 Units in % ∇
Un-12 PID Monitor -
I0 0.0 Units in % ∇
ADD THIS BELOW EXISTING "♦" NOTE
∇Refer to Option Instruction Sheet 2Y25-0346.
for Page A1-13:
Cn-34 Not Used
Cn-35 Not Used
Cn-43 PID Output Limit 1 % 0 - 109 100 ♦
Cn-44 PID Output Delay Time 0.1 s 0.0 - 2.5 1.0 ♦
Cn-45 Integral Value Limit 1 % 0 - 100 100 ♦
Un-10 Control Section Software I70 I6 ( LHP - PID )
PROM No. Lower 5
Digits :
LHP:NSG 6XXXXX
Sn-06 Operation Mode XXXX 00 = S-curve at Accel/Decel,- 0000 2.27
Select 3 with 0.2 second delay
01 = S-curve at Accel/Decel
disabled
10 = S-curve at Accel/Decel
With 0.5 second delay
11 S-curve at Accel/Decel
with 1.0 second delay
XXXX 0 Auto signal input ■
directly proportional
1 Auto signal input
inversely proportional
XXXX 0 Auto Reference - Loss 2.4
Detection disabled
1 Auto Reference - Loss
Detection enabled
ADD THIS ABOVE PAGE NUMBER
■Refer to Option Instruction Sheet 2Y25-0346.
for Page A1-4:
for Page
A1-16:
for Page
A1-15: