![background image](http://html.mh-extra.com/html/omron/sysmac-cp-series/sysmac-cp-series_user-manual_742262493.webp)
A-33
Appendices
CP2E CPU Unit Software User’s Manual(W614)
A
-1 In
struction
Fu
nctio
n
s
App
A-1-15 Data C
ontrol Instr
uctio
ns
A-1-15
Data Control Instructions
Instruction
Mnemonic
Variations
Symbol/Operand
Function
PID CON-
TROL WITH
AUTOTUNING
PIDAT
---
Executes PID control according to the specified parameters. The
PID constants can be auto-tuned with PIDAT(191).
C: First Parameter Word
PIDAT(191)
S
C
D
S
: Input word
C
: 1st parameter word
D
: Output word
15
8
0
7
C+5
0
3
1
4
C
C+1
C+2
C+3
C+4
0
15
C+6
8
11
12
13
14
15
0 0 0
0
3
4
7
2
Set value (S
V
)
Proportional band (P)
Integral constant (Tik)
Derivative constant (Tdk)
Sampling period(
τ
)
Forward/reverse
designation
PID constant update
timing designation
Manipulated variable
output setting
Output range
Integral and derivative unit
Input range
Manipulated variable output limit control
2-PID parameter(
α
)
C+7
C+
8
0
15
C+11
C+40
C+9
C+10
0
15
0
15
12
14 13
0 0 0
Limit-cycle Hysteresis
Manipulated variable output lower limit
Manipulated variable output upper limit
Work area
(30 words: Cannot be used by user.)
AT Calculation Gain
AT Command Bit
Содержание SYSMAC CP Series
Страница 1: ...USER S MANUAL Cat No W614 E1 01 SYSMAC CP Series CP2E E D CP2E S D CP2E N D CP2E CPU Unit Software ...
Страница 3: ......
Страница 32: ...1 Overview 1 4 CP2E CPU Unit Software User s Manual W614 ...
Страница 44: ...3 CPU Unit Operation 3 8 CP2E CPU Unit Software User s Manual W614 ...
Страница 116: ...6 I O Allocation 6 8 CP2E CPU Unit Software User s Manual W614 ...
Страница 144: ...7 PLC Setup 7 28 CP2E CPU Unit Software User s Manual W614 ...
Страница 170: ...10 Interrupts 10 14 CP2E CPU Unit Software User s Manual W614 ...
Страница 200: ...11 High speed Counters 11 30 CP2E CPU Unit Software User s Manual W614 ...
Страница 272: ...12 Pulse Outputs 12 72 CP2E CPU Unit Software User s Manual W614 ...
Страница 278: ...13 PWM Outputs 13 6 CP2E CPU Unit Software User s Manual W614 ...
Страница 460: ...18 Programming Device Operations 18 28 CP2E CPU Unit Software User s Manual W614 ...
Страница 576: ...Revision 2 CP2E CPU Unit Software User s Manual W614 ...
Страница 577: ......