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Can the ATV212 Drive be set up to do PID control?

Yes.  A feedback transducer with a 4-20mA or 0-10V feedback will be required.
The basic settings are as follows:
F360 = PID enable, 1 = PID feedback on VIA, 2 = PID feedback on VIB
F362 = PID proportional gain
F363 = PID integral gain
F380 = PID reverse error
FMOD = 3  for PID setpoint via the up and down buttons on the face of the drive.

CTA-ID : 2062100
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