FC6A S
ERIES
MICROS
MART
L
ADDER
P
ROGRAMMING
M
ANUAL
FC9Y-B1726 19-25
19: PID C
ONTROL
I
NSTRUCTION
Process variable (PV) ≥ set point (SP) + AT bias setting value
When the AT bias setting is set to 20°C, fluctuations will start when the process variable (PV) reaches a temperature 20°C higher
than the set point (SP).
â– To execute auto tuning (AT)
To execute auto tuning, turn on the auto tuning execution flag (S3+6) when the PIDA instruction input is on. The values for P, I,
and D will be automatically calculated. While auto tuning is executing, 1 is stored in the operation status (S1+2).
When auto tuning ends, the auto tuning execution flag (S3+6) turns off automatically, 2 is stored in the operation status (S1+2),
and the auto tuning completed output (S3+7) turns on.
â– To cancel auto tuning (AT) execution
To cancel auto tuning while it is executing, turn off the auto tuning execution flag (S3+6). When the auto tuning execution flag
(S3+6) is turned off, auto tuning stops, 2 is stored in the operation status (S1+2), and the auto tuning completed output (S3+7)
turns on.
If auto tuning is canceled without completing, the values for P, I, and D are restored to the values before auto tuning was
executed.
1. Measuring PID constants
2. Calculate PID constants
3. Control with the PID constants set with AT
4. AT bias setting value (20)
AT: When the AT execution bit is turned on
Temperature
SP
SP+20
AT
1
4
23
Time
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