Yaskawa MotionWorks IEC Toolboxes - Manual (Page 557)

Yaskawa Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 544
Notes
• All time parameters in the PIDStruct (Ts, Td1, and Td2) must be in the same units, i.e seconds or ms.
• See Yaskawa's Youtube webinar - MPiec Web Tension Control Applications for more info on using this
function block.
Example
Initialization of the PIDStruct:
PIDPrm.Ts := LREAL#0.004; (* Set to the same value as the cyclic application task *)
PIDPrm.Kp := LREAL#40.0; (* Proportional gain *)
PIDPrm.Ki := LREAL#0.0; (* Integral gain *)
PIDPrm.Kd := LREAL#0.0; (* Derivative gain *)
PidPrm.Td1 := LREAL#4.0; (* Divergence differentiation time *)
PidPrm.Td2 := LREAL#4.0; (* Convergence differentiation time *)
PIDPrm.Ti := LREAL#4.0; (* Integration time *)
PIDPrm.ILL := LREAL#-10.0; (* The smallest integration value *)
PIDPrm.IUL := LREAL#10.0; (* The largest integration value *)
PIDPrm.LowerLimit:= LREAL#-2000.0; (* The smallest ControlOutput that will be output *)
PIDPrm.UpperLimit:= LREAL#2000.0; (* The largest ControlOutput that will be output *)
PIDPrm.DeadBand := LREAL#0.00001; (* Maximum absolute error value that will result in a
ControlOutput of zero *)
Symbol Specification
Ts Scan time set value
Kp Proportional gain
Ki Integral gain
Kd Derivative gain
Td1 Divergence differentiation time
Td2 Convergence differentiation time
Ti Integration time
IUL Upper integration limit
ILL Lower integration limit