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774
Data Control Instructions
Section 3-18
The direction of proportional operation can be designated as either forward or
reverse.
The upper and lower limits of the manipulated variable output can be desig-
nated.
The sampling period can be designated in units of 10 ms (0.01 to 99.99 s), but
the actual PID action is determined by a combination of the sampling period
and the time of PIDAT(191) instruction execution (with each cycle).
The timing of enabling changes made to PID constants can be set to either 1)
the beginning of PIDAT(191) instruction execution or 2) the beginning of PID
instruction execution and each sampling period. Only the proportional band
(P), integral constant (Tik), and derivative constant (Tdk) can be changed
each sampling cycle (i.e., during PID instruction execution). The timing is set
in bit 1 of C+5.
When changing the PID constants manually, set the PID constant change
enable setting (bit 1 of C+5) to 1 so that the values in C+1, C+2, and C+3 are
refreshed each sampling period in the PID calculation. This setting also allows
the PID constants to be adjusted manually after autotuning.
Of the PID parameters (C to C+38), only the following parameters can be
changed when the execution condition is ON. When any other values have
been changed, be sure to change the execution condition from OFF to ON to
enable the new settings.
• Set value (SV) in C
(Can be changed during PID control only. An SV change during autotun-
ing will not be reflected.)
• PID constant change enable setting (bit 1 of C+5)
• P, I, and D constants in C+1, C+2, and C+3
(Changes to these constants will be reflected each sampling period only if
the PID constant change enable setting (bit 1 of C+5) is set to 1.)
• AT Command Bit (bit 15 of C+9)
• AT Calculation Gain (bits 0 to 14 of C+9) and Limit-cycle Hysteresis
(C+10) (These values are read when autotuning starts.)
Note
The PIDAT(191) instruction is the same as the PID(190) instruction with the
added autotuning (AT) function, so the PID control operations are identical.
Refer to
3-18-1 PID CONTROL: PID(190)
for details on PID control operations
and examples.
Flags
Name
Label
Operation
Error Flag
ER
ON if the C data is out of range.
ON if the actual sampling period is more than twice the
designated sampling period.
ON if an error occurred during autotuning.
OFF in all other cases.
Greater Than
Flag
>
ON if the manipulated variable after the PID action
exceeds the upper limit.
OFF in all other cases.
Less Than Flag
<
ON if the manipulated variable after the PID action is
below the lower limit.
OFF in all other cases.
Carry Flag
CY
ON while PID control is being executed.
OFF in all other cases.
Содержание SYSMAC CS1D-CPU**
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Страница 185: ...146 List of Instructions by Function Code Section 2 4...
Страница 193: ...154 3 35 4 MOVE BIT MOVBC 568 1274 3 35 5 BIT COUNTER BCNTC 621 1276 3 35 6 GET VARIABLE ID GETID 286 1278...
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