Yaskawa MotionWorks IEC Toolboxes - Manual (Page 556)

Yaskawa Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 543
PIDControl
This function block can be used as a generic control loop feedback mechanism. A PID controller calculates an
"error" value as the difference between a measured process variable and a desired set point, or reference.
PIDParameters must be adjusted to allow the process to provide the proper ControlOutput for a given error
situation.
Parameters
* Parameter Data
Type Description
VAR_INPUT Default
B Enable BOOL
The function will continue to execute while
enable is held high.
FALSE
V PIDParameters PIDStruct
Structure containing all the information for
PID control block to operate
N/A
V Reference LREAL Setpoint for the PID control loop. LREAL#0.0
V ProcessValue LREAL
Real world value to be compared with the
Reference in the control loop
LREAL#0.0
VAR_OUTPUT
B Valid BOOL Indicates that the outputs of the function are valid.
V ControlOutput BOOL
Output value from the PID control block. The range of values
will be governed by the PIDParameters, especially the upper
and lower limit.
B Error BOOL
Set high if error has occurred during the execution of the
function block. This output is cleared when 'Execute' or 'Enable'
goes low.
B ErrorID UINT
If Error is true, this output provides the Error ID. This output is
reset when 'Execute' or 'Enable' goes low.