Omron SYSMAC CJ - REFERENCE MANUAL 08-2008

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Data Control Instructions Section 3-18
At the rising edge of W 000000 (OFF to ON), SETB(532) turns ON bit 15 of
D00209 (C+9) and starts autotuning. When autotuning is completed, the cal-
culated P, I, and D constants are written to C+1, C+2, and C+3. PID control is
then restarted with the new PID constants.
PIDAT
0010
D00200
0020
000000
S
C
D
C: D00200
C+1: D00201
C+2: D00202
C+3: D00203
C+4: D00204
C+5: D00205
C+6: D00206
C+7: D00207
C+8: D00208
C+9: D00209
C+10: D00210
C+11: D00211
C+40: D00240
012C
0064
04B0
0190
0032
0000
0494
0000
0000
0000
0000
W00000
SETB
D00209
#000F
Work area
Proportional band: 10.0%
Integral time: 120.0 s
Derivative time: 40.0 s
Sampling
period: 0.5 s
Reverse operation (bit 00: 0), PID constant change enable setting =
OFF (bit 01: 0), set value = manipulated variable output 50% (bit
03: 1), 2-PID parameter = 0.65 (bits 04 to 15: 000 hex)
Manipulated variable output range: 12 bits (bits 00 to 03: 4 hex),
Integral/derivative constant: time designation (bits 04 to 07: 9 hex)
Input range: 12 bits (bits 08 to 11: 4 hex),
Manipulated variable output limit control disabled (bit 12: 0)
AT Command Bit OFF (bit 15: 0),
AT Calculation Gain = 1.00 (bits 00 to 11: 000 hex)
Limit-cycle Hysteresis = 0.20%
PID starting integral manipulated variable
designation = start from same integral
manipulated value as manipulated variable
output designation (bit 14: 0 and bit 13: 0)
Parameters
PV:
CIO 0010
MV output: CIO 0020
to
PID calculation
Set value: 300
CIO 000000
W000000
PV
SV
MV
PID control PID control AT executing
PID control starts.
Calculated PID
constants are set.
Bit 15 of
D00209
Time
Time