You are on page 1of 8

Issued by: Mitsubishi Electric Europe B.V.

- UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord

DataBank Technical Note

Basic Setup Instructions for PID process control using FR-F_A700 Inverter:
Introduction This application note is intended as a Quick start guide and includes typical connections to configure the in built software PID controller in FR-A_F Inverters for use in process control of flow or pressure, controlling the Motor speed using V/F control. Requirements FR-F_A700 Inverter Module. AC 3 phase Induction Motor. Process measurement sensor ( ie flow or pressure). With signal output of either voltage 0-10Vdc or current 4-20mA. DC power supply for above sensor. Typical Connections Connect AC supply and Motor after referring to installation manual. The following diagram shows typical control connections for pid control. The minimum control connections which refer to this application note are highlighted in red.

Title: Keywords:

. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.

Page 1 of 8

Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord

DataBank Technical Note

Minimum Parameters Calibrate Drive for Motor Refer to the Motor Nameplate details and in PU mode set the following Parameters Parameter No Pr 9 Pr3 Pr19 Description Set Motor full load current Set Base Frequency Set Base Voltage Default setting Set to Inverter rated output 50Hz Based on Inverter Supply voltage Example 1.84 A Motor Frequency at max volts Motor Voltage at Base Frequency

Title: Keywords:

. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.

Page 2 of 8

Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord

DataBank Technical Note


Set Application Specific Parameters These parameters can be determined by the characteristics of the application. Therefore chose settings as required. Parameter No Pr 1 Pr2 Pr 7 Pr 8 Pr14 Description Set Maximum Frequency Set Minimum Frequency Acceleration time to reach Pr20 De-acceleration time from Pr20 to standstill V/F shape Default setting 120Hz 0Hz 5 Seconds 5 Seconds 0 Example 50Hz Motor Frequency at zero setpoint 5 Secs to reach 50Hz (Pr20) 5 Secs to reach zero speed from 50Hz (Pr20) Set 0 for constant torque load Set 1 for variable torque load (fans & pumps) Disable if required by setting Pr11,12 to 0 When STF is removed Set 9999 to stop with ramp Set 1000 to coast to stop Set to 1 to see all parameters Set to 2 write anytime. Set back to 0 after setup.

Pr 11,12 Pr 250 Pr 30 Pr77

DC injection brake Stop selection Set full menus Parameter write selection

3Hz, 0.5S 9999 0 0

Note: The minimum acceleration time is determined by the Power rating of the Motor and the characteristics of the load. Too short acceleration times will cause Overcurrent trips at the drive. De-accelerating the load too quickly can cause Overvoltage trips. After setting the above parameters carry out a test run to determine the motor rotation direction.

Title: Keywords:

. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.

Page 3 of 8

Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord

DataBank Technical Note

Test Run TAKE PRECAUTIONS TO PREVENT ACCIDENTAL CONTACT WITH THE MOTOR SHAFT. In PU mode start the motor using the FWD key on the DU07 Operator module, increase the speed setpoint, check the Motor rotation direction is correct for the application. The Motor can be stopped using the STOP/RESET Key at anytime. If required reverse the direction of the Motor rotation by swapping any two of the three motor cables after isolating the supply for the drive. PID Configuration Parameters After a successful test run we are ready to configure the necessary parameters to implement PID control. Configure the I/O Digital Inputs For minimum connections we only require one digital input which we use to enable the PID loop. In this example this will be connected via the STF input. Therefore the PID will be enabled whenever the drive is started. Any available input can be configured, for this example we will use the RT terminal. Set the following parameter to configure the RT terminal. Parameter No Pr 183 Description RT terminal function Default setting 3 Example Set at 14 to use as PID enable

Digital Outputs Outputs can also be configured to indicate if the PID has saturated at its limits and if the PID is enabled. The configuration of the outputs are not required in this example.

Title: Keywords:

. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.

Page 4 of 8

Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord

DataBank Technical Note


PID Setpoint and Measured value The PID setpoint is the desired value for the value we are controlling ie pressure or flow. The PID measured value is the actual pressure or flow measured at the transducer. The parameters allow for many variations for the source of both of these variables and can be determined by the setting of Pr128. In this example we will use a setpoint manually set in Pr133, if required the setpoint can alternatively be derived from a analogue input. The measured value (feedback) will be 4-20mA connected to terminal 4-5. Parameter No Pr 128 Pr133 Description PID action selection PID Setpoint Default setting 10 9999 Example Set at 20 to use as described above Set at 50%

PID Control Automatic Switchover When we start the drive we can set a running frequency at which PID control automatically starts and controls after reaching this frequency. PID control continues until the drive is stopped. Parameter No Pr 127 Description PID Control Auto switchover Default setting 9999 Example Set at 25Hz

Title: Keywords:

. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.

Page 5 of 8

Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord

DataBank Technical Note


Initial Setup of the PID controller terms

The PID controller is used in closed loop control. Three terms are available which are adjusted to obtain zero steady state error between setpoint and feedback and also good transient response from the control system.

Parameter No Pr 129 Pr130

Description PID Proportional Band PID Integral time

Default setting 100% 1 second

Example Set at 250% initially. Gain = 1/Pr129 Set at 5 seconds initally

The above parameters are adjusted to achieve a satisfactory response to a system disturbance. During running trials adjust the Gain using PR129 to achieve the fastest rise time in response to a disturbance without overshoot. The lower the value of Pr129 the higher the gain and more overshoot results. Pr130 sets the integral time, the integral term removes steady state error. Therefore with no integral term the measured value would settle at a value below the PID setpoint. Adjust the integral time to remove the steady state error. Both of the above values will interact. Too much gain or to small integral time will result in an unstable response. Derivative control is also available with PID differential time Pr 134. This is not required in this example.
Title: Keywords: . PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop. Page 6 of 8

Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord

DataBank Technical Note

Running Trials Adjustment of the PID controller will be required to suit the process. During adjustment it is useful to be able to monitor the PID feedback and deviation (error between setpoint and feedback). Parameter No Pr 52 Description PU main display Default setting 0 Example Set at 52 for PID setpoint 53 for PID feedback 54 for PID error (1000 =0)

In external control, start the drive, by closing STF. Enable the PID controller by closing RT (X14). The Motor will increase speed to the value set in Pr127. At this value the PID should take over. If the feedback is less than the setpoint then the integral action should start to increase the speed of the motor. At this time you can determine if the PID output is in the correct direction. If it is incorrect then stop the drive and set Pr128 to opposite sense 21. Apply a system disturbance and adjust the control loop until you obtain a critical response.

Title: Keywords:

. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.

Page 7 of 8

Issued by: Mitsubishi Electric Europe B.V. - UK Branch Document issue: Ver A, May 08 Produced by : - Applications Travellers Lane, Hatfield, Herts, AL10 8XB, UK Author: Tim Lord

DataBank Technical Note


The above running trials and PID tuning are more easily achieved by using FR-Configurator software tool. FR-Configurator allows PID setpoint, feedback and error to be displayed using the monitor oscilloscope. Control disturbances can then be entered by writing small step changes to the PID setpoint parameter. The response can then be observed and adjustments made to control loop terms until the desired response is achieved.

Title: Keywords:

. PID CONTROL QUICK START FOR FR-F_A700 INVERTERS PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured value, proportional gain, integral time, three term control, closed loop.

Page 8 of 8