Delta DVP-ES2 - Manual (Page 356)

D V P - E S 2 / E X 2 / S S 2 / S A2 / S X 2 / S E O p e r a t i o n M a n u a l - P r o g r a m m i n g
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API Mnemonic Operands Function
88 D PID PID control
Controllers
ES2/EX2 SS2 SA2
SE
SX2
Bit Devices Word devices Program Steps Type
OP X Y M S K H KnX KnY KnM KnS T C D E F
S
1
*
S
2
*
S
3
*
D *
PID : 9 steps
DPID: 17 steps
PULSE 16-bit 32-bit
ES2/EX2 SS2
SA2
SE
SX2 ES2/EX2 SS2
SA2
SE
SX2 ES2/EX2 SS2
SA2
SE
SX2
Operands:
S
1
: Set value (SV) S
2
: Present value (PV) S
3
: Parameter setting (for 16-bit instruction, uses 20
consecutive devices, for 32-bit instruction, uses 21 consecutive devices) D: Output value (MV)
Explanations:
1. This instruction is specifically for PID control. PID operation will be executed only when the
sampling time is reached. PID refers to “proportion, integration and derivative”. PID control is
widely applied to many mechanical, pneumatic and electronic equipment.
2. After all the parameters are set up, PID instruction can be executed and the results will be
stored in D. D has to be unlatched data register. (If users want to designate a latched data
register area, please clear the latched registers to 0 in the beginning of user program.
Program Example:
1. Complete the parameter setting before executing PID instruction.
2. When X0 = ON, the instruction will be executed and the result will be stored in D150. When X0
= OFF, the instruction will not be executed and the previous data in D150 will stay intact.
D150
X0
D100 D1 D0 PID
3. Timing chart of the PID operation (max. operation time is approx. 80us)
A + B B B B B A+B A+B #1 #2
Scan cycle Scan cycle
Sampling time (Ts) Sampling time (Ts)
Note: #1 The time for equation calculation during PID operation (approx. 72us)
#2 The PID operation time without equation calculation (approx. 8us)