Rievtech PR-12 Series, User Manual And Programmers Manual

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6.7.9 PID
Input/output Operand
Data type
TBL VB Byte
LOOP Constant(0 to 7) Byte
According to the parameters in the TBL,PID
instruction performs the PID operation.Up to 8 PID
instructions can be used in the program,the value
of LOOP is the loop number of PID.PID loop number
can not be the same, otherwise it will cause
interference.Parameters in the TBL parameter
table includes ： Process, set value, output, gain, sampling time,
integration time, differential time, the last time integral term, the last
time the amount of the process.
The parameter table contains 36 bytes:
Offset Meaning Format Type Explain
0
PV
n
Process
quantity
DINT Input 0.0~1.0
4
SP
n
Set point
DINT Input 0.0~1.0
8 Mn Output value DINT Input/Output 0.0~1.0
12 Kc gain Input Ratio constant
16 Ts Sampling time DINT Input Ms Positive
20
T
I
Integral time
DINT Input S Positive
24
T
D
Differential time
DINT Input S Positive
28
MI
n 1
−
Last time
integral value
DINT Input/Output Last time
integral value
32
PV
n 1
−
Last time
process
DINT Input/Output Last time
process