YASKAWA VS-616PS5 Series Owner's manual

VS-616PS5 Series
Programming Manual
Brushless Motor Drive

2VS-616PS5 Programming Manual

VS-616PS5 Programming Manual 3
YASKAWA manufactures component parts that can be used in a wide variety of industrial applications.
The selection and application of YASKAWA products remains the responsibility of the equipment
designer or end user. YASKAWA accepts no responsibility for the way its products are incorporated
into the final system design.
Under no circumstances should any YASKAWA product be incorporated into any product or design as
the exclusive or sole safety control. Without exception, all controls should be designed to detect faults
dynamically and fail safely under all circumstances. All products designed to incorporate a component
part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and
instructions as to that part’s safe use and operation. Any warnings provided by YASKAWA must be
promptly provided to the end user.
YASKAWA offers an express warranty only as to the quality of its products in conforming to standards
and specifications published in YASKAWA’s manual. NO OTHER WARRANTY, EXPRESS OR
IMPLIED, IS OFFERED. YASKAWA assumes no liability for any personal injury, property damage,
losses, or claims arising from misapplication of its products.
WARNING

4VS-616PS5 Programming Manual
READ THIS ENTIRE MANUAL BEFORE INSTALLING OR OPERATING THE VS-616PS5!
WARNING!
The PS5 motor uses permanent magnets. HIGH VOLTAGE is generated by the
motor whenever the rotor is turning, with or without a power supply. Make sure
the motor is not turning before performing ANY service on the motor or on the
inverter.
If there is a possibility that the motor can be turned by the load while inverter
power is off, install a contactor or a manual disconnect to open the motor leads
while servicing the inverter. Interlock the disconnect with the control circuits of
the drive.
ONLY PERSONNEL WHO ARE EXPERIENCED IN WORKING WITH HIGH VOLTAGE, HIGH
POWER EQUIPMENT SHOULD INSTALL OR SERVICE THIS EQUIPMENT.
Turn off the supply power to the VS-616PS5 AND make sure the motor is stopped AND the internal
capacitors are discharged before connecting or disconnecting wires or touching any internal parts.
The VS-616PS5 internal capacitors remain charged even after the power supply is turned off. Wait
at least five minutes after removing power. Make sure all LED’s are off before servicing the inverter.
Do not use a Megger or other type of high withstand voltage tester on the VS-616PS5. Higher volt-
ages can damage the semiconductors used in the inverter.
Do not connect or disconnect the operator or a computer while the VS-616PS5 is running.
FAILURE TO OBSERVE THE WARNINGS AND PRECAUTIONS IN THIS MANUAL CAN EXPOSE THE USER TO HIGH
VOLTAGES, RESULTING IN DAMAGE TO EQUIPMENT, SERIOUS PERSONAL INJURY, OR EVEN DEATH.
POWER SUPPLY LIMITATIONS
The VS-616PS5 is suitable for use on a circuit capable of delivering not
more than 65,000 RMS symmetrical amperes at 480 VAC maximum (for
460 VAC class units) or 240 VAC maximum (for 230 VAC class units).
NOTICENOTICE
The information contained within this document is the proprietary property of Yaskawa Electric America,
Inc. This information may not be copied, reproduced, or transmitted to other parties without the expressed
written authorization of Yaskawa Electric America, Inc.
No patent liability is assumed with respect to the use of the information contained herein.
Yaskawa is constantly improving its high-quality products. The information contained in this manual is sub-
ject to change without notice.
Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of
the information contained in this publication.

VS-616PS5 Programming Manual 5
Contents
Section Description Page
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
VS-616PS5 PARAMETERTREE . . . . . . . . . . . . . . . . . . . . . . . . .8
AINITIALIZATIONPARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . .9
A1 Initialization Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
B APPLICATIONPARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . .10
B1 Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
B2 Zero Speed Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
B3 Magnetic Pull-in Current. . . . . . . . . . . . . . . . . . . . . . . . . .15
B4 Delay Timers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
B5 PID Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
B6 Reference Hold. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
B7 Droop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
CTUNINGPARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
C1 Accel/Decel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
C2 PG Origin Pulse Compensation . . . . . . . . . . . . . . . . . . . .27
C3 Voltage Limitation Control. . . . . . . . . . . . . . . . . . . . . . . . .28
C5 ASR Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
C6 Carrier Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
D REFERENCEPARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . .35
D1 Preset References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
D2 Reference Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
D3 Jump Frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
D4 Hold Reference Memory. . . . . . . . . . . . . . . . . . . . . . . . . .39
D5 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
EMOTORPARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
E1 Motor Constant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
FOPTIONPARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
F1 PG Option Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
F2 AI-14 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
F3 DI-08/DI-16H Set-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
F4 AO-08/AO-12 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
F5 DO-02 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
F6 DO-08 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
F9 CP-916 Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
H CONTROLCIRCUITTERMINALPARAMETERS. . . . . . . . . . . . . . .61
H1 Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
H2 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
H3 Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
H4 Analog Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
LPROTECTIONPARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . .82
L2 Power Loss Ridethrough . . . . . . . . . . . . . . . . . . . . . . . . .82
L3 Stall Prevention. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
L4 Reference Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
L5 Fault Restart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
L6 Torque Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
L7 Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91

6VS-616PS5 Programming Manual
Section Description Page
L8 Hardware Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
O OPERATORPARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
O1 Monitor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
O2 Key Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
TTUNINGPARAMETERS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
T1 Auto-tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Appendix VS-616PS5 PARAMETERLIST. . . . . . . . . . . . . . . . . . . . . . . . 101

VS-616PS5 Programming Manual 7
Introduction
Introduction
The Model VS-616PS5 is a series of high quality, general purpose, inverters designed to
control the current in a permanent magnet (PM) brushless motor. In the PM motor, current is
directly related to torque.
With power outputs ranging from 0.5 to 500 horsepower (HP), the VS-616PS5 series is suit-
able for any application. The inverters provide full start-up torque, smooth low speed opera-
tion, and precise speed control from zero to full speed. The proprietary auto-tuning function
allows the inverters to get the best performance from PM motors manufactured worldwide.
Some of Yaskawa’s proprietary features of the VS-616PS5 inverter include torque control,
automatic tuning to the motor characteristics, UL recognized electronic thermal motor over-
load, energy saving operation, PID loop control, and low noise operation. Also available is a
digital operator for simple programming. The design team has used the latest in micropro-
cessor technology to produce the ultimate drive for any application.
Use the Parameter Tree on the following page to determine which control mode and access
level each parameter is available in.
The VS-616PS585 ships preset to the Quick-start access level. This publication describes
all Quick-Start, Basic and Advanced parameters. For installation and simplified Quick-Start
parameters, please refer to YEA-TOA-S616-10.22.

8VS-616PS5 Programming Manual
VS-616PS5 Parameter Overview
Group Function Parameter No.
Quick-start Basic Advanced
U1 Monitor 01-03, 05-14 15-19 20-22,27-33,41-47, 49,50,53,54,55
U2 Fault Trace 01-14 15,16 17-22
U3 Fault History 01-08
A1 Initialize 01, 03, 04
B1 Sequence 01-03 04 05-06
B2 Zero Speed Level 01
B3 Magnetic Pull-in 02, 04, 05
B4 Delay Timers 01, 02
B5 Pid Control 01-08
B6 Reference Hold 01-04
B7 Droop Control 01, 02
C1 Accel/decel 01, 02 03, 04,
09 05-08, 10, 11
C2 PG Origin Pulse Comp. 13
C3 Voltage Limit Control 05
C5 Asr Tuning 01-04 05-07
C6 Carrier Frequency 02
C7 S-Curve Characteristics 01-04
D1 Preset Reference 01-04, 09 05-08
D2 Reference Limit 01, 02
D3 Jump Speed 01-04
D4 Hold Reference Memory 01
D5 Torque Control 01-06
E1 Motor Constant 01-13, 17 15,16
F1 PG Option Set-up 01,05 02-04 08-11, 13
F2 AI-14 Set-up 01
F3 DI-08, 16 Set-up 01
F4 AO-08, 12 Set-up 01-06
F5 DO-02 Set-up 01, 02
F6 DO-08 Set-up 01
F8 Speed Feedback Selection 01 02
F9 CP-916 Set-up 01-06
H1 Digital Inputs 01-06
H2 Digital Outputs 01-03
H3 Analog Inputs 01-03 04-12
H4 Analog Outputs 01-07
H5 Serial Communications 01-05
L2 Power Loss Ridethrough 01, 02 05
L3 Stall Prevention 01
L4 Reference Detection 01, 02 03-05
L5 Fault Restart 01, 02
L6 Torque Detection 01-03 04-06
L7 Torque Limit 01-04
L8 Hardware Protection 01, 02, 03, 05, 07, 10
O1 Monitor Select 01-03
O2 Key Select 01, 02,
04 05-08
T1 Auto-tuning 02,03
MotorE
TerminalH
ProtectionL
* User Selectable
OperatorO
TuningT
OptionF
TuningC
MonitorU
ApplicationB
ReferenceD
AInitialize
VS-616PS5 Parameter Tree

VS-616PS5 Programming Manual 9
Main Menu:Initialize <ENTER>
AInitialization Parameters
A1 Initialization Set-up
This parameter allows the “masking” of parameters according to user level. See the
following table:
Use this parameter to reset the inverter to its factory default settings. Initialize the
inverter after changing the control PCB, or after selecting inverter capacity (O2-04).
This parameter allows password entry to view masked parameters.
A1-01 Parameter Access Level Q
Setting Description
0Operation Only
2Quick Start Level (factory default) - For maintenance-level programming.
3Basic Level - For basic programming in most applications.
4Advanced Level - For advanced programming in special applications.
A1-03 Operator Status Q
Setting Description
0No Initialization (factory default).
2220 2-Wire Initialization - terminal 1 becomes FWD run command and
terminal 2 becomes REV run command. All other parameters are
reset to their original factory default settings.
3330 3-WireInitialization- terminal1becomesruncommand, terminal2
becomes stop command and terminal 3 becomes FWD/REV run
selection. All other parameters are reset to their original factory
default settings.
A1-04 Password Entry Q
Section A: Initialization Parameters
A1 Initialization Set-up

10 VS-616PS5 Programming Manual
Main Menu: Programming <ENTER>
BApplication Parameters
B1 Sequence
Setting Range: 0 to 4
Factory Default: 1
Frequency reference and run command can be set independently as shown below:
By depressing the LOCAL/REMOTE key on the digital operator, the operation mode
can be selected as shown below:
Local: Frequency reference and run command from digital operator. (Remote
SEQ and REF LEDs off)
Remote:Operation according to frequency reference and run command set by B1-
01 & B1-02, respectively.
The Control Method is reset to remote operation when power is cycled.
Setting Range: 0 to 3
Factory Default: 0
This function selects the stopping method suitable for the application.
B1-01 Frequency Reference Selection Q
B1-02 Operation Method Selection Q
Setting Description
0Run by digital operator reference
1Run by external terminal reference (factory default).
2Run by serial communication
3Option card (run by CP-916 B/G, 216 I/F references
4Run by personal computer (CP-717) reference
6Pulse Train reference (valid for B1-01 only, used with PG-P2)
B1-03 Stopping Method Selection Q
Setting Description
0Ramp to stop (factory default).
1Coast to stop.
3Coast to stop with timer.
Section B: Application Parameters
B1 Initialization Sequence

VS-616PS5 Programming Manual 11
•Ramp to Stop (B1-03 = “0”)
Upon removal of the FWD (REV) run command, the motor decelerates at a rate
determined by the time set in deceleration time 1 (C1-02) and baseblocks upon
reaching the zero speed level (B2-01) or minimum speed (E1-08), whichever is
higher. If the deceleration time setting is too short or the load inertia is large, an over-
voltage fault (OV) may occur during deceleration. In this case, increase the decelera-
tion time or install an optional braking transistor and/or braking resistor (braking
transistors are provided as standard for units 230V 7.5kW and smaller, 460V 15kW
and smaller).
Braking torque: without braking resistor, approximately 5% of motor rated torque
with braking option, approximately 150% of motor rated torque
•Coast to Stop (B1-03 = “1”)
Upon removal of the FWD (REV) run command, the motor starts to coast. Upon re-
applying the run command operation will resume after the minimum baseblock time
(L2-03) elapses.
Coast to Stop with Timer 1 (B1-03 = “3”) should be used to prohibit the inverter from
starting into a rotating motor. When setting B1-03=3, the deceleration time (C1-02) is
used as the timer during which operation is prohibited.
Output Frequency Decel time 1 (C1-02)
Run Command ON OFF
Zero Speed Level
Figure 1 Stopping Method - Ramp to Stop
Factory Default 0.5Hz
Run command ON OFF
Output frequency Inverter output is shut OFF
when stop command is given.
Figure 2 Stopping Method - Coast to Stop
Section B: Application Parameters
B1 Sequence

12 VS-616PS5 Programming Manual
•Coast to Stop with Timer 1 (B1-03 = “3”)
Upon removal of the run command, a new run command is blocked until the coast to
stop timer has elapsed (same as Decel 1). After the timer elapses, the user must
enter another run command for the inverter to begin acceleration. This stopping
method is disabled during flux vector control.
Setting Range: 0 to 1
Factory Default: 0
A “reverse run disabled” setting does not allow a reverse run command from the con-
trol circuit terminal or the digital operator. This setting is used in applications where a
reverse run command is undesirable.
Select an operation mode to be used when the speed reference (analog input) drops
below the minimum speed setting (El -08).
B1-04 Reverse Operation Enable/Disable B
Setting Description
0Reverse run is enabled (factory default).
1Reverse run is disabled.
B1-05 Operation Selection at Zero Speed A
Setting Description
0E1-08 is ignored, run according to speed reference.
Output Frequency
Coasting
Decel Time 1
(C1-02)
Accel Time 1
(C1-01)
Time
ONONON
FWD (REV)
Run Command
Run Command Disabled
Figure 4 Stopping Method - Coast to Stop w/Timer
Section B: Application Parameters
B1 Sequence

VS-616PS5 Programming Manual 13
This parameter determines how the inverter will function when switching from local to
remote operation when the external run command is applied.
1Baseblock (factory default)- No output to motor
2Run at minimum output speed (E1-08).
3Zero-speed operation (internal speed reference is set to “0”)
B1-06 LOCAL/REMOTE Run Select A
Selection Description
0Operation is disabled if the external run command is applied
prior to switching from local to remote. The run command
must be removed and re-applied to start operation.
1Operation is enabled if the external run command is applied
prior to switching from local to remote.(factory default).
Setting Description
Section B: Application Parameters
B1 Sequence

14 VS-616PS5 Programming Manual
B2 Zero Speed Level
.
Setting Range: 0.0 to 20.0%
Factory Default: 0.5%
Sets the speed at which the inverter baseblocks upon deceleration. 20% equals 20%
of the maximum speed setting as entered in parameter E1-06.
The initial value is 0.5%. The unitscan be changed by O1-03.
B2-01 Zero-speed Level (Baseblock level) B
Section B: Application Parameters
B2 Servo Speed Level

VS-616PS5 Programming Manual 15
B3 Magnetic Pull-in
The magnetic pull-in (Synchronization) feature is used only during the PG orientation
auto-tuning process. During normal operation this function is not performed.
During PG Orientation Auto-Tuning, the following parameters are used to gradually
ramp up the motor current to a desired level to allow a “soft” rotor pole alignment.
Once the magnetic pull-in is completed, the PG Orientation feature is performed.
Setting Range: 0 to 150%
Factory Default: 50%
The current level during initial magnetic pull-in is set in units of 1%.
A setting of 100% generates Motor rated current (E1-04). Increasing this value
increases the motor torque during the pull-in process.
Setting Range: 0.0 to 5.0s
Factory Default: 1.0s.
Sets the rate at which the current is increased during the magnetic pull-in process.
Too short a setting will result in abrupt rotor movement.
B3-02 Magnetic Pull-in Current A
B3-04 Current Ramp-up Time A
Section B: Application Parameters
B3 Magnetic Pull-in

16 VS-616PS5 Programming Manual
Setting Range: 0.0 to 5.0s
Factory Default: 1.0s
This parameter sets the time to allow the rotor to pull in (align) with the magnetic field
at initial excitation. Pull-in waiting time is set in units of 0.1s.
The current vs. time plot during the magnetic pull-in process is as follows:
B3-05 Magnetic Pull-in Time A
Operation Status B3-02 Adjustment B3-04 Adjustment B3-05Adjustment
Slow Start -Decrease set value Decrease set value
Insufficient torque, and
“STO” is output Increase set value. - -
Current Value
0 1 2 Time
B3-04
B3-05
B3-02
Section B: Application Parameters
B3 Magnetic Pull-in

VS-616PS5 Programming Manual 17
B4 Delay Timers
Use the inverter input (multifunction inputs) and output (multifunction outputs) in
place of an external timer. When a multi-function contact input (H1-XX = “18”) is
closed, a multi-function contact output (H2-XX = “12”) can be set to close after the
On-delay time (B4-01) has expired. This function operates independently of any con-
current inverter activity.
Setting Range: 0.0 to 300.0s
Factory Default: 0.0s
Sets the ON-delay time in units of 0.1 second. The multi-function input must be
“closed” for longer than the ON-delay timer for the multi-function output to close.
Setting Range: 0.0 to 300.0s
Factory Default: 0.0s
Sets the OFF-delay time in units of 0.1 second. The multi-function input must be
“open” longer than the OFF-delay timer for the multi-function output to open.
B4-01 On-delay Timer A
B4-02 Off-delay Timer A
Multi-function Contact
Input:Timer Function
Multi-function Contact
Output: Timer Function
ON
ON
B4-01
Figure 8 Timing Diagram of Timer Function
B4-01 B4-02
ON ON ON ON ON ON ON
ON
B4-02
Section B: Application Parameters
B4 Delay Timers

18 VS-616PS5 Programming Manual
B5 PID Control
The Proportional, Integral, and Derivative (PID) control function provides closed-loop
control and regulation of a system variable such as temperature or pressure. A con-
trol signal based on the difference (or error) between a feedback signal and a desired
setpoint is produced. Integration and derivative calculations are then performed on
this signal, based upon the PID parameter settings (B5-01 to B5-08), to minimize
deviation, for precise control.
To enable PID control, set PID control mode selection to “1” or “2”, according to the
description below. Also be sure to set terminal 16 function selection (H3-05) to PID
feedback (Set Value: “B”).
Notes:1. PID with feed forward applies control much quicker than normal PID, without waiting for the
deviation signal to build up.
2. A PID inverse feedback signal can be selected by inverting the settings for terminal 16 gain
and bias.
Then select the PID control intended value (setpoint) and detected value (feedback)
setpoint as follows:
Detected Value (Feedback)
Set the PID feedback value with the control circuit terminal 16 voltage signal (0 to
10V, -10 to 10V) or multi-step speed parameters H1-03 to H1-06.
Control circuit terminal 16 voltage signal:
Set reference selection (B1-01) to “1” and set H3-05 = “B”.
Multi-step speed parameters via multifunction inputs (H1-01 to H1-06):
Set reference selection (B1-01) to “0.”
Set multifunction inputs to (H1-01 to H1-06) set value 3,4 and/or 5.
(allows combination of multi-step speed references and jog frequency reference
as entered in parameter D1-01 thru D1-09)
Intended Value (Setpoint)
The control circuit terminal 14 current signal (4 to 20mA) or voltage signals (0 to 10V,
-10 to +10V) can be used to set the PID setpoint value.
Control circuit terminal 14 accepts 4-20 MA current signal:
Set terminal 14 signal selection (H3-08) to “2.”
B5-01 PID Control Mode Selection A
Setting Description
0PID is disabled (factory default).
1PID is enabled (deviation signal is put through derivative control).
2PID operates with feed forward (feedback signal is put through derivative control).
Section B: Application Parameters
B5 PID Control

VS-616PS5 Programming Manual 19
Control circuit terminal 14 accepts voltage signal:
Set terminal 14 signal selection (H3-08) to “0” for 0-10 VDC input signal or “1” for -
10 to 10 VDC input signal. The J1 jumper must also be cut to set-up terminal 14
to accept a voltage signal.
Notes:
1. I value is reset to ”0” when operation stops.
2. The upper limit of the I value can be set by parameter B5-04.
Increase the value of parameter B5-04 to upgrade control capability by
integration. If the control system is unstable and it cannot be stopped by
adjusting the integral time, output delay time, etc., decrease the set value
of parameter B5-04.
3. PID control can be canceled by a multi-function contact input signal.
By setting any of parameters H1-01 to H1-06 to “19” and by closing the
contact during running PID control is disabled and the intended value sig-
nal itself is used as a frequency reference signal.
Setting Range: 0.00 to 25.00
Factory Default: 1.00
The proportional gain is the value by which the deviation signal is multiplied to gener-
ate a new frequency reference. Too high a setting will result in oscillations (instabil-
ity).
Too low a setting will result in a sluggish response.
B5-02 PID Control Proportional Gain A
Intended
H3-06
(Deviation) -
+P
1
2
B5-01
Value
Feedback
Calibration
Gain
Detected
Value
Offset
B5-01
B5-01
Output
Delay Time
Frequency
Reference
1 or 2
0
B5-06 B5-08
B5-07
B5-04
++
+
B5-03
B5-05
D1
2
B5-05
D+
+
Figure 9 PID Control Block Diagram
B5-02
Limit
ILimit
Section B: Application Parameters
B5 PID Control

20 VS-616PS5 Programming Manual
Setting Range: 0.00 to 360.0s
Factory Default: 1.00s
The integral calculation sums the deviation over time which forces the deviation to
become zero. Thus, the feedback will match the desired setpoint. The integral time
determines how quickly the integral gain increase is added to the control loop. Too
high a setting will result in slow response. Too low a setting may result in rapid oscil-
lations (instability).
Setting Range: 0.0 to 100.0%
Factory Default: 100.0%
The integral limit is used to limit the range of the integral term. In some applications it
may be desirable to limit the integral term to improve system response. Otherwise,
the integral value may become large and overshoots may result when the integral
value takes a long time to integrate in the opposite direction. This value is set as a
percentage of maximum motor speed (E1-06).
Setting Range: 0.00 to 10.00s
Factory Default: 0.00s
The derivative calculation attempts to control the remaining overshoot left over after
the proportion and integral calculations. If the system is approaching the intended
value very rapidly, the derivative control produces a strong braking action to prevent
overshoot. If the system is already stable with very little deviation change, derivative
control has very little effect. The derivative time is used to dampen oscillations and
reduce overshoot, thus improving stability. Setting the derivative time to a larger
number produces more braking action in the control system.
Setting Range: 0.0 to 100.0%
Factory Default: 100.0%
The PID limit places a limit on the PID signal output, limiting the output frequency ref-
erence. Normally this is set to 100% to allow unrestrained operation of the PID func-
tion. This value is set as a percentage of maximum motor speed (E1-06).
B5-03 PID Control Integral Time A
B5-04 PID Control Integral Limit A
B5-05 PID Control Derivative Time A
B5-06 PID Control Limit A
Section B: Application Parameters
B5 PID Control