Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 142)

1 Ladder Program Instructions
1.7.5 PD CONTROL Instruction (PD)
1-132
* Relay I/O Bit Assignment
Here, the PD operation is expressed as follows:
The following operation is performed within the PD instruction:
Table 1.15 Real Number 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 − (Reserved) Reserved register −
2 F Kp P gain Gain of the P correction IN
4 F Kd D gain Gain of the differential circuit input IN
6 F Td1 Divergence differential
time The differential time (s) used in the case of diverging
input. IN
8 F Td2 Convergence differential
time The differential time (s) used in the case of converg-
ing input. IN
10 F UL Upper PD limit Upper limit for the P + D offset IN
12 F LL Lower PD limit Lower limit for the P + D offset IN
14 F DB PD output dead band Width of the dead band for the P + D offset IN
16 F Y PD output PD offset output (also output to the A register) OUT
18 F X Input stored Present deviation input value stored 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
Y
X
= Kp + Kd ×Td × S
X: deviation input value
Y: output value
Td
Y = Kp X + Kd (X – X ) × × ×
Ts
X : previous input value
Ts: scan time setting
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