Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 141)

1.7 DDC Instructions
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1
1.7.5 PD CONTROL Instruction (PD)
„ Outline
The PD instruction executes a PD control operation according to the contents of a previously
set parameter table. The input (Input) to the PD 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.
* Relay I/O Bit Assignment
Table 1.14 Integer Type PD 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 Kd D gain Gain of the differential circuit input (a gain of 1 is set
to 100) IN
3 W Td1 Divergence differential
time The differential time (ms) used in the case of diverg-
ing input. IN
4 W Td2 Convergence differential
time The differential time (ms) used in the case of con-
verging input. IN
5 W UL Upper PD limit Upper limit for the P + D offset IN
6 W LL Lower PD limit Lower limit for the P + D offset IN
7 W DB PD output dead band Width of the dead band for the P + D offset IN
8 W Y PD output PD offset output (also output to the A register) OUT
9 W X Input value storage Storage of the present deviation input value OUT
BIT Symbol Name Specifications I/O
0 to 7 − (Reserved) Reserved relay for input IN
8 to F − (Reserved) Reserved relay for output OUT