Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 145)

1.7 DDC Instructions
1-135
1
1.7.6 PID CONTROL Instruction (PID)
„ Outline
The PID instruction executes a PID control operation according to the contents of a previ-
ously set parameter table. The input (Input) to the PID 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 1.16 Integer Type PID 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 correction (a gain of 1 is set to 100) IN
2 W Ki I gain Gain of the integration circuit input (a gain of 1 is set
to 100) IN
3 W Kd D gain Gain of the differentiation circuit input (a gain of 1 is
set to 100) IN
4 W Ti Integration time Integration time (ms) IN
5 W Td1 Divergence differential
time The differential time (ms) used in the case of diverg-
ing input. IN
6 W Td2 Convergence differential
time The differential time (ms) used in the case of con-
verging input. IN
7 W IUL Upper integration limit Upper limit for the I correction value IN
8 W ILL Lower integration limit Lower limit for the I correction value IN
9 W UL Upper PID limit Upper limit for the P + I + D offset IN
10 W LL Lower PID limit Lower limit for the P + I + D offset IN
11 W DB PID output dead band Width of the dead band for the P + I + D offset IN
12 W Y PID output PID offset output (also output to the A register) OUT
13 W Ti I offset I offset stored OUT
14 W IREM I remainder I remainder stored OUT
15 W X Input value storage Present deviation input value stored OUT
BIT Symbol Name Specifications I/O
0 IRST Integration reset "ON" is input when integration is reset. IN
1 to 7 − (Reserved) Reserved relay for input IN
8 to F − (Reserved) Reserved relay for output OUT