LSIS Master-K K1000S - PID Control Instructions; Pidcal

Chapter 15 The PID function of K200S MASTER-K
15-15
15.4 PID control instructions
The MASTER-K series has 2 instructions for PID control as following table.
No Instruction Description
1 PIDCAL Execute PID operation
2 PIDTUN Execute auto tuning operation
15.4.1 PIDCAL
The PIDCAL instruction executes PID operation with given parameters, and output the
result to the specific devices. It occupies 37 words for its execution, so please be careful
that other instruction do not use the devices that are using for PID operation. To execute
PIDCAL instruction, all necessary parameters should be input at the specified devices.
The following table shows the device map for PIDCAL instruction.
xxxx : The start address of PID operation area (37 words)
Device
offset
Name Description Range
+ 0 S_TIME Operation scan time 1 ~ 100
+ 1 MVMAN Manual operation value data 0 ~ 4000
+ 2 MV_MIN Minimum value of manipulation value 0 ~ 4000
+ 3 MV_MAX Maximum value of manipulation value 0 ~ 4000
+ 4 N High frequency noise depression ratio 1 ~ 10
+ 5 TT Tracking time constant 1 ~ 1000
+ 6 REF Reference value 1 ~ 10
+ 7 D_TIME The time constant of derivation operation (Td) 0 ~ 20000
+ 8 I_TIME The time constant of integral operation (Ti) 0 ~ 20000
+ 9 P_GAIN The proportional gain constant (K) 0 ~ 10000
+ 10 EN_D Enable / disable the derivative operation 0 or 1
Remark
The PID instructions (PIDCAL, PIDTUN) are available only K200S B and C type. (K3P-
07BS
and K3P-07CS) With the K200S A type (K3P-07AS), these instructions are ignored.
PIDCAL xxxx