Specifications

7. Application Instructions
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88
PID S
1
S2 S
3
D PID calculation
Bit device Word device
Device
Operand
X Y M S K H KnX KnY KnM KnS T C D E F
S1
Ϩ
S2
Ϩ
S
3
Ϩ
D
Ϩ
Note: S3 operand occupies continuous 6 devices. Please refer to function
specification charts for usage range of each device. Please refer to
footnote for the use time of PID command.

S
1
: target value(SV).
S2
: present value(PV).
S
3
: parameter.
D
: output value(MV).
 Specific command for PID operation control. This scan will execute PID
operation when sampling time reaches. PID means Proportion,
Integration and Differential. PID control has wide application on
mechine equipment, pneumatic equipment and electric eqipment.

S
1
: target value (SV),
S2
: present value (PV),
S
3
~
S
3
+5: it
will start to execute PID command after finishing all parameters setting
and save the result to
D
. Please give no latch register area for
D
content. (if you want to give
D
content a latch register,
please clear latch to 0 when program runs.)
 Program Example
Ϩʳ Please finish parameters setting before executing PID command.
Ϩʳ
The command will be executed when X0=ON and the result will be
saved in D150. The command won’ t be executed when X0=OFF and
the previous data won’ t have any change.
D150
X0
D100D1D0PID
 Footnote:
Ϩʳ PID command is only in version V4.9 or above of ES / EX / SS series.
Ϩʳ PID command can be used one time in ES / EX / SS / EP series.
Ϩʳ It is unlimited for using times of PID command of EH series. But the
register number that S3 indicates can’ t repeat.
Ϩʳ
S
3
has 6 registers. In above program, the parameter setting area of
PID command that
S
3
indicates are D100~D105. You should use
MOV command to transmit settings to the indication register to set
before PID command executes. If the registers that parameters
indicate are latch area, please execute MOVP to execute transmitting.
Ϩʳ Parameters setting is as follows.
Device
No.
Function
Setting
range
Explanation
S
3
:
Sampling
timeΰT
S
α
(unit: 10ms)
1~2,000 If T
S
is small than a scan time, PID
command will execute a scan time. If
T
S
=0, it won’ t act.
S
3
+1:
Propotion
gainΰK
P
α
0~100
S
3
+2:
Integration
gainΰK
I
α
0~100