Omron SYSMAC C200HE, Operation Manual

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Note 1. The actual integral and derivative times are calculated using the values set
in C+2 and C+3 and the time unit set in C+6.
2. Setting the 2-PID parameter (
α
) to 000 yields 0.65, the normal value.
3. The only CQM1 model that can use PID(––) is the CQM1-CPU4 -EV1.
Performance Specifications
Item Specifications
PID calculation method --- Target value filter-type, two degrees of freedom (forward/reverse
operation)
Number of PID control loops --- No limit (1 loop per instruction)
Sampling period t 0.01 to 102.3 s (See note.)
PID constants Proportional band P 0.1 to 999.9%
Integral constant Tik 1 to 8191, 9999 (No integral operation for sampling period multiple or
9999.)
Derivative constant Tdk 0 to 8191 (No derivative operation for sampling period multiple.)
Set value SV 0 to 65,535 (Valid up to the maximum value of the input range.)
Measured value PV 0 to 65,535 (Valid up to the maximum value of the input range.)
Operation output amount MV 0 to 65,535 (Valid up to the maximum value of the output range.)
Note For the C200HS and the CQM1-CPU4 -EV1, the sampling period is 0.1 to
102.3 s.
Special Math Instructions
Section 5-21