Omron SYSMAC CP CP1E-N@@D@-@ - Manual (Page 293)

2-257
2 Instructions
CP1E CPU Unit Instructions Reference Manual(W483)
Data C
ont
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2
PID
A
T
Data Control Instructions
PIDAT
Applicable Program Areas
Operands
C: First Parameter Word
Instruction Mnemonic Variations
Function
code
Function
PID CONTROL WITH
AUTOTUNING
PIDAT --- 191
Executes PID control according to the specified
parameters. The PID constants can be autotuned.
Symbol
PID
Area Step program areas Subroutines Interrupt tasks
Usage OK OK Not allowed
Operand Description Data type Size
S Input word UINT 1
C First parameter word WORD 41
D Output word UINT 1
S: Input word
C: First parameter word
D: Output word
PIDAT(191)
S
C
D
15 8 0 7
C+5 0
32 1 4
C
C+1
C+2
C+3
C+4
0 15
C+6
8 11 12 13 14 15
0 0 0
0 3 4 7
Set value (SV)
Proportional band (P)
Integral constant (Tik)
Derivative constant (Tdk)
Sampling period( τ)
Forward/reverse designation
PID constant update timing designation
Manipulated variable output setting
Output range
Integral and derivative unit
Input range
Manipulated variable output limit control
2-PID parameter( α)
C+7
C+8
0 15
C+11
C+40
C+9
C+10
0 15
0 15 12 14 13
0 0 0
Limit-cycle Hysteresis
Manipulated variable output lower limit
Manipulated variable output upper limit
Work area
(30 words: Cannot be used by user.)
AT Calculation Gain
AT Command Bit