Inovance H3U Series - Page 310

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4
4 Instructions 4.12.1 PID Calculation
●
Position-type PID instruction (0x01** selected for S3+1)
Address Name Setting Range Meaning
S3 + 0 Sampling cycle
1 to 32,767, in
ms
PID calculation cycle; default value: 10
S3 + 1 Control mode -
0x0100: Forward direction (default)
0x0101: Reverse direction
S3 + 2
Proportional
gain Kp1
0 to 32,767, in
percent
Proportional gain; default value: 0
S3 + 3 Integral gain Ki1
0 to 32,767, in
percent
Integral gain; default value: 0
S3 + 4
Differential gain
Kp1
0 to 32,767, in
percent
Differential gain; default value: 0
S3 + 5
Deviation dead
zone
0 to 32,767
0: Disabled
Non-0: Deviation is zero if the deviation value is less than the specic
value.
Default value: 0
S3 + 6
Upper output
limit
–32,768 to
+32,767
Maximum output value
S3 + 7
Lower output
limit
–32,768 to
+32,767
Minimum output value
S3 + 8
Upper integral
limit
–32,768 to
+32,767
Maximum cumulative integral value
※
1
S3 + 9
Lower integral
limit
–32,768 to
+32,767
Minimum cumulative integral value
※
1
S3 + 10
Cumulative
integral
- 32-bit oating-point number
S3 + 11
S3 + 12 Last output
–32,768 to
+32,767
Used for differential calculation
S3 + 13 Kp2
0 to 32,767, in
percent
Default value: 0
S3 + 14 Ki2
0 to 32,767, in
percent
Default value: 0
S3 + 15 Kd2
0 to 32,767, in
percent
Default value: 0
S3 + 16
Parameter
switching
condition
-
0: No switching
1: Switching based on deviation
2: User-dened
※
2
S3 + 17
Lower deviation
limit E1
–32,768 to
+32,767
Deviation starting point or user-dened switching starting point
S3 + 18
Upper deviation
limit E2
–32,768 to
+32,767
Deviation end point or user-dened switching end point
S3 + 19
User-dened
switching
reference
–32,768 to
+32,767
Switching reference when the parameter switching condition is set to 2
S3 + 20
Occupied
by internal
operation
- -
S3 + 21
S3 + 22
S3 + 23
S3 + 24
S3 + 25
S3 + 26
Note:
※
1: When the upper and lower integral limits are set to 0, the upper limit +32,737 and lower limit -32,768 take effect.
※
2: When (S3+16) = 0, (S3+17) to (S3+19) are invalid.