Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 137)

1.7 DDC Instructions
1-127
1
Real Number Type Operation
1.7.4 PI CONTROL Instruction (PI)
„ Outline
The PI instruction executes a PI control operation according to the contents of a previously
set parameter table. The input (Input) to the PI 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.
Input (MF00200) Output (MF00202)
-100.0 > MF00200 -100.0 (under the lower limit)
-100.0 ≤ MF00200 ≤ 100.0 Value of MF00200 (within the upper and
lower limit)
MF00200 > 100.0 100.0 (above the upper limit)
Table 1.12 Integer Type PI Instruction Parameters
ADR Type Symbol Name Specifications I/O
0 W RLY Relay I/O
Relay input, relay output
∗ IN/OUT
1 W Kp P gain Gain of the P offset (a gain of 1 is set to 100) IN
2 W Ki Integration adjustment
gain Gain of the integration circuit input (a gain of 1 is set
to 100) IN
3 W Ti Integration time Integration time (ms) IN
4 W IUL Upper integration limit Upper limit for the I offset IN
5 W ILL Lower integration limit Lower limit for the I offset IN
6 W UL Upper PI limit Upper limit for the P + I offset IN
7 W LL Lower PI limit Lower limit for the P + I offset IN
8 W DB PI output dead band Width of the dead band for the P + I offset IN
9 W Y PI output PI offset output (also output to the A register) OUT
10 W Yi I offset Storage of the I offset OUT
11 W IREM I remainder Storage of the I remainder OUT