Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 146)

1 Ladder Program Instructions
1.7.6 PID CONTROL Instruction (PID)
1-136
* Relay I/O Bit Assignment
Here, the PID operation is expressed as follows:
The following opertion is performed within the PID instruction:
Table 1.17 Real Number 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 − (Reserved) Reserved register −
2 F Kp P gain Gain of the P offset IN
4 F Ki I gain Gain of the integration circuit IN
6 F Kd D gain Gain of the differentiation circuit input IN
8 F Ti Integration time Integration time (ms) IN
10 F Td1 Divergence differential
time The differential time (s) used in the case of diverging
input. IN
12 F Td2 Convergence differential
time The differential time (s) used in the case of converg-
ing input. IN
14 F IUL Upper integration limit Upper limit for the I offset IN
16 F ILL Lower integration limit Lower limit for the I offset IN
18 F UL Upper PID limit Upper limit for the P + I + D offset IN
20 F LL Lower PID limit Lower limit for the P + I + D offset IN
22 F DB PID output dead band Width of the dead band for the P + I + D offset IN
24 F Y PID output PID offset output (also output to the A register) OUT
26 F Ti I offset I offset stored OUT
28 F 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
Y 1
X = Kp + Ki ×
× Ti S
+ Kd × Td × S
X: deviation input value
Y: output value
Ti Td
Y
= Kp X + {
} ( Ki
× × × ×
X + IREM ) /
Ts
+ Yi + Kd ( X – X )
Ts
X : previous input value
Yi : previous I output value
Ts: scan time setting
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