A F700 PID Control

PID Control for F/A700
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 – Error! AutoText entry not defined.
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: . Page 1 of 8
PID CONTROL QUICK START FOR FR-F_A700 INVERTERS
Keywords: PID Process control, flow, pressure,overvoltage, overcurrent, setpoint, measured
value, proportional gain, integral time, three term control, closed loop.

Author: Tim Lord
Minimum Parameters
Calibrate Drive for Motor
Refer to the Motor Nameplate details and in PU mode set the following
Parameters
Parameter No Description Default setting Example

Pr 9 Set Motor full load Set to Inverter 1.84 A
current rated output
Pr3 Set Base Frequency 50Hz Motor Frequency
at max volts
Pr19 Set Base Voltage Based on Motor Voltage at
Inverter Base Frequency
Supply voltage

Author: Tim Lord
Set Application Specific Parameters
These parameters can be determined by the characteristics of the

application. Therefore chose settings as required.

Pr 1 Set Maximum Frequency 120Hz 50Hz
Pr2 Set Minimum Frequency 0Hz Motor Frequency at zero
setpoint
Pr 7 Acceleration time to 5 Seconds 5 Secs to reach 50Hz (Pr20)
reach Pr20
Pr 8 De-acceleration time 5 Seconds 5 Secs to reach zero speed
from Pr20 to standstill from 50Hz (Pr20)
Pr14 V/F shape 0 Set 0 for constant torque
load
Set 1 for variable torque
load (fans & pumps)
Pr 11,12 DC injection brake 3Hz, 0.5S Disable if required by
setting Pr11,12 to 0
Pr 250 Stop selection 9999 When STF is removed
Set 9999 to stop with ramp
Set 1000 to coast to stop
Pr 30 Set full menus 0 Set to 1 to see all
parameters
Pr77 Parameter write 0 Set to 2 write anytime.

selection Set back to 0 after setup.
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.

Author: Tim Lord
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.

Pr 183 RT terminal function 3 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.

Author: Tim Lord

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.

Pr 128 PID action selection 10 Set at 20 to use as
described above
Pr133 PID Setpoint 9999 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.

Pr 127 PID Control Auto 9999 Set at 25Hz
switchover

Author: Tim Lord

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.

Pr 129 PID Proportional Band 100% Set at 250% initially.
Gain = 1/Pr129
Pr130 PID Integral time 1 second 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.

Author: Tim Lord
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).

Pr 52 PU main display 0 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.

Author: Tim Lord

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.

A F700 PID Control

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A F700 PID Control

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PID Control for F/A700

Issued by: Mitsubishi Electric Europe B.V. - UK Branch

Databank – Error! AutoText entry not defined.

Basic Setup Instructions for PID process control

This application note is intended as a Quick start guide and includes

FR-F_A700 Inverter Module.

Connect AC supply and Motor after referring to installation manual.

Issued by: Mitsubishi Electric Europe B.V. - UK Branch

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Calibrate Drive for Motor

Parameter No Description Default setting Example

Issued by: Mitsubishi Electric Europe B.V. - UK Branch

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Set Application Specific Parameters

These parameters can be determined by the characteristics of the

Parameter No Description Default setting Example

Pr77 Parameter write 0 Set to 2 write anytime.

Issued by: Mitsubishi Electric Europe B.V. - UK Branch

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TAKE PRECAUTIONS TO PREVENT ACCIDENTAL CONTACT WITH THE

PID Configuration Parameters

After a successful test run we are ready to configure the necessary

Configure the I/O

For minimum connections we only require one digital input which we

Parameter No Description Default setting Example

Issued by: Mitsubishi Electric Europe B.V. - UK Branch

Databank – Error! AutoText entry not defined.

Parameter No Description Default setting Example

PID Control Automatic Switchover

Parameter No Description Default setting Example

Issued by: Mitsubishi Electric Europe B.V. - UK Branch

Databank – Error! AutoText entry not defined.

Parameter No Description Default setting Example

The above parameters are adjusted to achieve a satisfactory response

Issued by: Mitsubishi Electric Europe B.V. - UK Branch

Databank – Error! AutoText entry not defined.

Adjustment of the PID controller will be required to suit the process.

Parameter No Description Default setting Example

Issued by: Mitsubishi Electric Europe B.V. - UK Branch

Databank – Error! AutoText entry not defined.

FR-Configurator allows PID setpoint, feedback and error to be displayed

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