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!
242
In this case, the input data word, IR 010, contains #0014, and f(0014) = #0726 is
output to R, IR 011.
X
Y
$1F20
$0F00
$0726
$0402
(0,0)
$0005
$0014
$001A
$05F0
(x,y)
5-21-6
PID CONTROL – PID(––)
S: Input word
IR, SR, AR, DM, HR, LR,
C: First parameter word
IR, SR, DM, HR, LR
Operand Data Areas
D: Output word
IR, SR, AR, DM, HR, LR
Ladder Symbol
PID(––)
S
C
D
Limitations
C and C+32 must be within the same data area.
Caution
Do not program PID(––) in the following situations. Doing so may produce unex-
pected behavior: In interrupt programs, in subroutines, between IL(02) and
ILC(03), between JMP(04) and JME(05), and in step programming (when using
STEP(08) and SNXT(09)).
Description
PID(––) carries out PID control according to the designated parameters. It takes
the specified input range of binary data from the contents of input word S and
carries out the PID operation according to the parameters that are set. The re-
sults are then stored as the operation output amount in output word D.
PID parameter words range from C through C+32. The PID parameters are con-
figured as shown below.
Word
15 to 12
11 to 8
7 to 4
3 to 0
C
Set value (SV)
C+1
Proportional band (P)
C+2
Tik = Integral time T
1
/sampling period
γ
(See note 1.)
C+3
Tdk = Derivative time Td/sampling period
γ
(See note 1.)
C+4
Sampling period
γ
C+5
2-PID parameter (
α
) (See note 2.)
PID forward/
reverse designation
C+6
0
Input range
0
Output range
C+7 to C+32
Work area (Cannot be accessed directly from program.)
Note
1. What is set in words 2 and 3 is not the actual integral and derivative times,
but rather their values divided by the value of the sampling period
γ
.
2. Setting the 2-PID parameter (
α
) to 000 yields 0.65, the normal value.
Special Math Instructions
Section 5-21
Содержание SYSMAC C200HS
Страница 1: ...Cat No W235 E1 05 C200HS SYSMAC Programmable Controllers...
Страница 2: ...C200HS Programmable Controllers Operation Manual Revised February 2002...
Страница 3: ...iv...
Страница 5: ...vi...
Страница 379: ...371 SR word Corresponding key s Bit 279 03 04 05 3 06 07 VER 08 09 Monitoring Operation and Modifying Data Section 7 1...
Страница 470: ...468 Programmer Program Date Page Word Contents Notes Word Contents Notes Data Storage...
Страница 471: ...469 Programmer Program Date Page TC address T or C Set value Notes TC address T or C Set value Notes Timers and Counters...