Omron SYSMAC CJ - REFERENCE MANUAL 08-2008

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Data Control Instructions Section 3-18
Example 2:
Starting PIDAT(191) with
Autotuning
At the rising edge of CIO 000000 (OFF to ON), autotuning will be performed
first if bit 15 of D00209 (C+9) is ON. When autotuning is completed, the calcu-
lated P, I, and D constants are written to C+1, C+2, and C+3. PID control is
then started with the calculated PID constants.
Example 3:
Interrupting Autotuning
Before Completion
Autotuning can be interrupted by turning bit 15 of D00209 (C+9) from ON to
OFF. PID control will be restarted with the P, I, and D constants that were in
effect before autotuning was started.
CIO 000000
PV
SV
MV
PID
0010
D00200
0020
000000
S
C
D
PID control and
autotuning start.
Calculated PID
constants are set.
PID controlAT executing
Bit 15 of
D00209
Time
Time
CIO 000000
PV
SV
PID control starts.
PID control PID control
AT executing
Bit 15 of
D00209
Time
AT starts AT is interrupted.
PID control is restarted with
the existing PID constants.