6 pid control instruction (pid) – Yaskawa Ladder Works Programming Manual User Manual
Page 136
7.6 PID CONTROL Instruction (PID)
7-15
7.6 PID CONTROL Instruction (PID)
[Outline]
The PID instruction executes a PID control operation according to the contents of a previously set
parameter table. The input (Input) to the PID operation must be integer or real number data.
Double-length integer data cannot be used. The configurations of the parameter tables for integer
and real number data are different. Operations are performed by processing each parameter as an
integer consisting of the lower-place 16 bits.
Table of Integer Type PID Instruction Parameters
ADR
Type Symbol
Name
Specification
I/O
0
W
RLY
Relay I/O
Relay input, relay output *
1
IN/OUT
1
W
Kp
P gain
Gain of the P correction (a gain of 1 is set to 100)
IN
2
W
Ki
I gain
Gain of the integration circuit input (a gain of 1 is
set to 100)
IN
3
W
Kd
D gain
Gain of the differentiation circuit input (a gain of
1 is set to 100)
IN
4
W
Ti
Integration time
Integration time (ms)
IN
5 W Td1
Divergence
differentiation time
The differentiation time (ms) used in the case of
diverging input.
IN
6 W Td2
Convergence
differentiation time
The differentiation time (ms) used in the case of
converging input.
IN
7
W
IUL
Upper integration limit
Upper limit for the I correction value
IN
8
W
ILL
Lower integration limit
Lower limit for the I correction value
IN
9
W
UL
Upper PID limit
Upper limit for the P+I+D correction value
IN
10
W
LL
Lower PID limit
Lower limit for the P+I+D correction value
IN
11
W
DB
PID output dead band
Width of the dead band for the P+I+D correction
value
IN
12
W
Y
PID output
PID correction output (also output to the A register)
OUT
13
W
Ti
I correction value
Storage of the I correction value
OUT
14
W
IREM
I remainder
Storage of the I remainder
OUT
15
W
X
Input value storage
Storage of the present deviation input value
OUT
*
1
: Relay I/O Bit Assignment
BIT
Symbol
Name
Specification
I/O
0
IRST
Integration reset
"ON" is input when integration is reset.
IN
1 to 7
－
(Reserve)
Reserve relay for input
IN
8 to F
－
(Reserve)
Reserve relay for output
OUT