LSIS Master-K K1000S - Chapter 15 The PID function of K200 S; 15 The PID function of K200 S; 15.1 Introduction; 15.2 Control actions

Chapter 15 The PID function of K200S
15 The PID function of K200S ............................................................................ 15-1
15.1 Introduction.................................................................................................................................... 15-1
15.2 Control actions .............................................................................................................................15-2
15.2.1 Proportional operation (P operation) .................................................................................15-2
15.2.2 Integral operation (I action)...................................................................................................15-4
15.2.3 Derivative operation (D action)............................................................................................15-6
15.2.4 PID action...................................................................................................................................15-7
15.2.5 Forward / reverse action........................................................................................................15-8
15.2.6 Reference value .......................................................................................................................15-9
15.2.7 Integral windup........................................................................................................................15-10
15.3 Realization of PID control on the PLC.............................................................................15-13
15.3.1 P control....................................................................................................................................15-13
15.3.2 I control ......................................................................................................................................15-13
15.3.3 D control....................................................................................................................................15-14
15.3.4 Pseudo code of PID control................................................................................................15-14
15.4 PID control instructions..........................................................................................................15-15
15.4.1 PIDCAL......................................................................................................................................15-15
15.4.2 PIDTUN (PID auto tuning)..................................................................................................15-19
15.4.3 Error code list ..........................................................................................................................15-21
15.5 Example of programming ......................................................................................................15-23
15.5.1 System configuration............................................................................................................15-23
15.5.2 Initial setting.............................................................................................................................15-23
15.5.3 Program description ..............................................................................................................15-24
15.5.4 Example program for PIDCAL instruction .....................................................................15-25
15.5.5 Example program for PIDCAL and PIDTUN instructions .........................................15-26