Specifications
7. Application Instructions
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7-52
S
3
+3:
Differential
gainΰK
D
α
0~100
S
3
+4:
Action
directionΰDirα
0: auto control direction
1: forward action (SVШPV)
2: reserve action (PVШSV)
S
3
+5:
deviation ( E )
range
0~100, For example: if the range of deviation
( E ) is 5, output value MV of E between
is 0.
Ϩʳ If parameter setting exceeds range, the setting will use Max. and Min.
value to be settings.
Ϩʳ PID commands can be used in interrupt subroutine, step point and CJ
command.
Ϩʳ Max. range of sampling time T
S
is -ΰa scan time+ 1msα~+ΰa scan
timeα. If error value has influence on output, please keep the time
fixable or execute PID command in interrupt subroutine.
Ϩʳ If the settings of sampling time T
S
Љ a scan time, CPU will have error
code K6740(PID operation error). At this time, CPU will reset T
S
= a
scan time to execute PID operand. In this situation, please execute PID
command in time interrupt subroutine (I6ϭϭ~I8ϭϭ).
Ϩʳ PV of PID must be a stable value before PID executes operation.
Please take note of A/D of these modules conversion time if using input
value of DVP-04AD / DVP-04XA / DVP-04PT / DVP-04TC module to
do PID operation.
Calculation formula for PID command
Ϩʳ This command executes PID operation according to speed and test
value differential type.
Ϩʳ PID operation has two operations, forward and reverse operation. The
direction of operation is set by
S
3
+4. Besides, the settings that
have relation to PID operation is set by
S
3
~
S
3
+5.
Ϩʳ Basic operation of PID
Move direction Calcultaion method of PID
Forward
operation
automatically
() () ()
S
tEKStPVKtEKMV
IDP
1
*** ++=
()
PVSVtE −=
Reverse
operation
() () ()
S
tEKStPVKtEKMV
IDP
1
*** ++=
()
SVPVtE −=
Symbols explanations:
MV : Output value
P
K : Porprotion gain
()
tE : Deviation value. Forward operation
()
SVPVtE −= , reverse
operation
()
SVPVtE −=
PV : Test value
SV : Target value
D
K : Differential gain
()
StPV : Differential of
()
tPV
I
K : Integration gain
()
S
tE
1
: Integration value of
()
tE