Delta DVP-15MC Series - Page 407

DVP-15MC Series Motion Controller Operation Manual
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3. The program
a. POU1（Cyclic Task）：
1
PID
MV
PID0
PID_RUN
SV
PV
PID_MODE
PID_MAN
MOUT_AUTO
CYCLE
Kc_Kp
Ti_Ki
Td_Kd
Tf
PID_EQ
PID_DE
PID_DIR
ERR_DBW
MV_MAX
MV_MIN
MOUT
BIAS
I_MV
D_MODE
D_RUN
D_PV
D_SV
D_Kc
D_MAN
D_CYC
D_Ki
D_Tf
D_Kd
D_MAX
D_DBW
D_DIR
D_I_MV
D_MIN
D_BIAS
D_MOUT
D_MV
2
REAL_TO_SINT
EN ENO
Out
In
M1
D_MV
G_In1
b. POU2（Freewheeling Task）：
3
GPWM
Enable
GPWM1
In1
In2
Out
M2D_RUN
4000
G_In1
c. The experimental result of the automatic tuning function is shown below.