DVP-ES2/EX2/EC5/SS2/SA2/SX2/SE&TP Operation Manual - Programming
ï‚Ÿ If users have no idea on parameter adjustment, select K3 (auto-tuning). After all the
parameters are adjusted (the control direction will be automatically set as K4), users can
modify the parameters to better ones according to the adjusted results.
3. When control mode (S
3
+4) is selected as K10:
ï‚Ÿ S
3
+2 (K
I
) and S
3
+3 (K
D
) in this mode will be switched to parameter settings of Integral time
constant (T
I
) and Derivative time constant (T
D
).
ï‚Ÿ When output value (MV) reaches the upper bound, the accumulated integral value will not
increase. Also, when MV reaches the lower bound, the accumulated integral value will not
decrease.
ï‚Ÿ The equation for this mode will be modified as:
( ) ( )
( )






++×=
∫
tE
dt
d
TdttE
T
tEKMV
D
I
P
1
Where
Control diagram:
G(s)
S
1/S
1/T
I
T
D
+
+
+
PID operation is within dotted area
P
+
K
Notes and suggestion:
1. S
3
+ 3 can only be the value within 0 ~ 30,000.
2. There are a lot of circumstances where PID instruction can be applied; therefore, please
choose the control functions appropriately. For example, when users select parameter
auto-tuning for the temperature (S
3
+ 4 = K3), the instruction can not be used in a motor
control environment otherwise improper control may occur.
3. When you adjust the three main parameters, K
P
, K
I
and K
D
(S
3
+ 4 = K0 ~ K2), please adjust
K
P
first (according to your experiences) and set K
I
and K
D
as 0. When the output can roughly
be controlled, proceed to increase K
I
and K
D
(see example 4 below for adjustment methods).
K
P
= 100 refers to 100%, i.e. the proportional gain to the error is 1. K
P
< 100% will decrease
the error and K
P
> 100% will increase the error
4. When temperature auto-tuning function is selected(S
3
+ 4 = K3, K4), it is suggested that
store the parameters in D register in latched area in case the adjusted parameters will
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