Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 222)

5.8 DDC Instructions
5.8.5 PD Control (PD)
5-153
Instructions
5
( 3 ) Programming Example
This programming example calculates the reference value in MF00100 weighted with the PD compensation.
The deviation in DF00024 is obtained from the reference value in MF00100 and the current value in MF00098 and it is
used as the input to the PD instruction.
The reference value to output is obtained by adding the original reference value in MF00100 to the PD compensation
output in DF000026.
The following block diagram illustrates the programming example.
DF00026 DF00024
PD compensation
Deviation
MF00100
Reference value
MF00098
Current value (feedback)
PD Instruction
MF00100
MF00100
+
+
+
−
Reference value
Reference value weighted with the compensation
• Upper/lower limits
UL = 100, LL = - 100
• Dead Zone A
DB = 10
Kp = 10
Td/Ts
(Td1 = 1.0 s
Td2 = 2.0 s) Kd = 10
Previous
input value
+
+
+
−