ARCODE

Controller PID Settings

V1.1
ARCODE Controller PID Settings www.arkel.com.tr

Publisher ARKEL Elektrik Elektronik San. ve Tic. A.Ş.

Eyüp Sultan Mah. Şah Cihan Cad. No: 69 Sancaktepe – İstanbul / TÜRKİYE
+90 (216) 540 67 24 – 25
+90 (216) 540 67 26
[email protected]
www.arkel.com.tr
Technical Support +90 (850) 311 42 43
+90 (541) 909 43 49 (WhatsApp )
[email protected]
Date of issue 21.12.2018
Revision Date 06.03.2019
Document version V1.1
Document Number
Copyright © 2019, ARKEL Elektrik Elektronik San. ve Tic. A.Ş.
This document has been created to be a guide for Arkel customers. Reproduction, transfer, distribution or
storage of part or all the contents in this document in any form without the prior written permission of Arkel
is prohibited. Arkel reserves the right to make changes and improvements to any of the products described
in this document without prior notice.
Arkel is not responsible for those mistakes that may be found in this manual and for the damages that they
may cause.

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ARCODE Controller PID Settings www.arkel.com.tr

Table Of Content

Table Of Content ............................................................................................................................ 2

Introduction: .................................................................................................................................. 3
Anti-Rollback Function.................................................................................................................... 4
Zero Speed Pid Gains And Full Speed Pid Gains: .............................................................................. 6
Comfort- Performance Level: .......................................................................................................... 8
Appendix-1 .................................................................................................................................................................... 9
Pre-torque function:............................................................................................................................................ 9
Loadcell Wiring Diagram: .................................................................................................................................. 10
How to setup the pre-torque function ........................................................................................................................ 11

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ARCODE Controller PID Settings www.arkel.com.tr

Introduction:

There are 3 factors in PID controllers. (KP: Proportional Gain, KI: Integral Gain, KD: Derivative Gain
coefficients.) These are the gain coefficients of closed loop systems.
KP and KI gains can be change according to motor characteristics and mechanical factors of elevator.
Therefore, it’s not possible to arrange as constant PID gain coefficients.

PID Control
Settings

Current PIDs
Anti roolback PIDs Speed PIDs
KI and KP Gain

Factory defaults: The value will be calculated

Factory defaults:
KP zero speed:15000 by Arcode during Auto-Tune.
Anti-roll back function is “Off”
KI zero speed:80 We don’t suggest changing
KP full speed:6000 current PIDs
KI full speed:40

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 ARCODE Controller PID Settings www.arkel.com.tr

Anti-Rollback Function

Anti-rollback function is used to keep the Elevator in stand still position from releasing of the brakes
until the start of movement. This function creates enough force against to gravity by using motor to
hold cabinet to prevent passengers feel falling for a moment after the motor mechanical brakes are
released.

Note: if the motor type is synchronous and elevator

passenger capacity more than 600 kg, we advise to Roll-back at the
use Loadcell with analog (current/voltage) output start
to solve roll back of the elevator. See Appendix-1

Anti-Roll PID Effect to The System

Less Anti-Roll PID gain Proper value of Anti-Roll PID Too high Anti-Roll PID
(KP and KD) (KP and KD)
➢ Roll back: Cabin slips at ➢ Motor works normally ➢ The motor draw high
the start, after mechanical without any vibration current
brakes open or noise. ➢ Noisy frequency sound
➢ Carrier frequency sound ➢ Motor cannot rotate
from motor properly
➢ Error 89

Before arranging Anti-Roll back settings: Load balance must be checked. Car is loaded with half load of
the nominal load then the elevator should be moved to middle of elevator shaft. (counterweight and cabin
should
be in same level).

For Synchronous motor, open motor In Asynchronous motor: brake is opened

brakes manually by activating SEV switch manually (by hand), the flywheel is tried to
and pressing SB1 and SB2 button. turn both directions. While trying to turn, the
force you apply should be the same for both
If the cabin goes downward you should add weights on the
counterweight the system gets balanced.
directions. Then, you can be sure that
counterweight balance is correct. If any
If the cabin goes upward you should remove weights from direction is harder than another one that
counterweight until the system gets balanced. means it wasn’t balanced.

50% of total elevator

After checking cabin balance, go to next step... weight capacity

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o Make sure that the skates (car and counterweight) are not too tight on the rails and that they are oiled
properly.

o If possible, observe the skates in inspection mode when starting the movement to see if there is any
backlashing on the skates.

▪ Then to find the Proper value of Anti-roll back PID gains to your system try to change (KP and PD) as below:

From AREM hand terminal: Go to:

”Device parameters”→”Driver settings”→”anti rollback function”: “ON
“

Then

“Device parameters”→”Driver settings”→”PID control settings”→

“anti-rollback PID gains→
-KP gain on antirollback : 5000 → 6000→7000→ …X
-KD gain on antirollback : 2500 → 3000→3500→ …X/2
You should increase KP and KD gains step by step until roll back is
over.

▪ Or if there is uncomfortable sound and vibration from the motor, anti-roll back should be decreased until you
reach proper value

“Device parameters”→”Driver settings”→”PID control settings”→anti rollback PID gains→

-KP gain on antirollback : X... 900010000…
-KD gain on antirollback : X/2... 45005000…

Note: KD value should be half of KP.

▪ Only in synchronous motors (when ENCA board is used) encoder accurate reading parameter will be helping to
minimize Rollback at start. Encoder reading parameter can be activated from below parameter:

“Device parameters”→”Driver settings”→ “Travel curve settings”→ (P0988) Anti-rollback

(P1117) Encoder reading for anti-rollback: Accurate

Note: This parameter should be arranged after arranging anti-rollback PIDs to optimum value as mentioned in
above steps.

Note: If you cannot find mentioned parameter you should make firmware update with latest ARCODE version.
For more details, please check ARCODE Firmware update documentation

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ARCODE Controller PID Settings www.arkel.com.tr

Zero Speed PID Gains and Full speed PID gains:

Effect of Zero Speed PID Gains to the system

Less value of zero speed PID gain Proper of value Zero Too high value of Speed PID
KP and KI Speed PID Gains gains (KP and KI)

➢ Insufficiency movement at start and ➢ Motor works properly ➢ Noise or vibration from
at stopping. without any problem motor at start and while
stopping.
➢ Error 18

➢ Error 19

Effect of Full Speed PID Gains to the system

Less value of Full speed PID gains Proper of value Zero Too high value of full Speed
(KP and KI) Speed PID Gains PID gains (KP and KI)

➢ Insufficiency movement when the ➢ Motor works properly ➢ Noise sound from motor,
elevator reaches max travel speed. Without any problem
➢ Vibrations when the
elevator reaches max travel
speed.

▪ If there is Insufficiency movement at start and at stopping.

From AREM hand terminal press to “tools” button then

device parameters→driver settings→PID control settings→ speed-PID gains→
KP gain for zero speed: 15000 →17000→18000→ … X Try until you reach Proper
KI gain for zero speed: 150 →170 →180 → … X/100 value of zero speed PID
gains

▪ Or if there is noise from motor at start and while stopping.

From AREM hand terminal press to “tools” button then
device parameters→driver settings→PID control settings→ speed-PID gains→

KP gain for zero speed: Try until you reach Proper X... 18000 20000 …
KI gain for zero speed: value of zero speed PID X/100…180 200 …
gains

Note: KP- full value should be 100 times of KI-full.

▪ If there is Insufficiency movement when the elevator reaches max travel speed..

From AREM hand terminal press to “tools” button then

device parameters→driver settings→PID control settings→speed-PID gains→
KP gain for Full speed: 12000 →13000→15000→ … X Try until you reach Proper
KI gain for Full speed: 120 → 130 →150 → … X/100 value of Full speed PID
gains

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ARCODE Controller PID Settings www.arkel.com.tr

▪ Or if there is noise from motor when the elevator reaches max travel speed
From AREM hand terminal press to “tools” button then
device parameters→driver settings→PID control settings→speed-PID gains→

KP gain for Full speed: Try until you reach Proper X... 1700018000 …
KI gain for Full speed: value of Full speed PID X/100…180 180 …
gains

Note: KP- full value should be 100 times of KI-full.

▪ If system is giving Error 18. Error19 Zero speed PID and full speed PID gains should be increased

From AREM hand terminal press to “tools” button then

device parameters→driver settings→PID control settings→speed-PID gains→
KP gain for zero speed: 8000 →9000 →10000 →… X
KI gain for zero speed: 80 →90 →100 →… X/100 Try until the elevator stops giving
KP gain for full speed: 6000 →7000 →8000 →…Y Error18 or Error19
KI gain for full speed: 60 →70 →80 →…. Y/100

Note: KP- full value should be 100 times of KI-full.

Speed PID Gains Menu Screen on AREM.

▪ Also, you can arrange the lift comfort- performance of by below parameter:

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Comfort- Performance level:

o if you want to lift starts to run with high acceleration, you can arrange it as

Tools→device parameters→driver settings→travel curve settings→comfort level: comfort:1 /

performance:5

o If you want to lift starts to run with more comfort, you can arrange it as

Tools→device parameters→driver settings→travel curve settings→comfort level: comfort:5 /

performance:1

Note: factory default value is: comfort3 /perfomace:3

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ARCODE Controller PID Settings www.arkel.com.tr

Appendix-1

For above 600 kg capacity elevators we suggest to be used pre-torque function which provides required
torque to the system according to data that comes from loadcell.

Pre-torque function:

The anti-rollback function inside the controller has a PID which attempts to find the correct balancing force for
the current load. But this calculation can only be done only after a slight movement of the car. Because PID
needs feedback information from the encoder and encoder can give this only after the motor slightly moves.

Although the encoder is very sensitive and PID calculation is very fast, in some elevator configurations, this
balancing action cannot be performed fast enough to be unnoticeable (due to big motor sheave size, weight of
the car, etc..) and the rollback may be felt by the passengers inside the car. For those cases, the pre-torque
function can be used to improve the anti-rollback function.

The downside of using the pre-torque function is that it needs special hardware, a load sensor, to be installed
under the car. (which increases the overall cost of the system) When used, the pre-torque function can predict
the direction and the magnitude of the balancing force before releasing the brakes because it can now
approximately calculate the required torque needed to keep the car in balance (with the information from. The
load sensor) In the following graphs, two identical travels are shown with and without the pre-torque
function.

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ARCODE Controller PID Settings www.arkel.com.tr

Loadcell Wiring Diagram:

➢ If you have loadcell with analog current output, you should make connections as below:

➢ If you have loadcell with analog voltage output, you should make connections as below:

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How to setup the pre-torque function

After loadcells connections are done according to diagrams on Page-7

▪ Activate pre-torque function from AREM hand terminal:

Go to :”Device parameters”→”Driver settings”→”anti rollback function”: “ON “

” Device parameters”→”Driver settings”→” Pre-torque settings”→”Pre-torque function”: “enabled“.

➢ If you have loadcell with analog current output:

” Device parameters”→”Driver settings”→” Pre-torque settings”→” pre-torque function”: “Weight

sensor with Analogue-Current output”

➢ If you have loadcell with analog current output:

” Device parameters”→”Driver settings”→” Pre-torque settings”→” pre-torque function”: “Weight
sensor with Analogue-Voltage output”

▪ Then check status on AREM screen Press “info”

button→”Input/output states”→press “down”
button you will see according to loadcell that you
have:

VI (loadcell voltage): 0.0V

CI (loadcell current): x.xmA

Note: You can feel vibration or roll-back when you run pre-torque
learning procedure. After learning it will work properly.

For more details about pre-torque and troubleshooting, please check ARCODE Pre-torque
documentation

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