Omron SYSMAC CP Series - A-1-15 Data Control Instructions

A-33
Appendices
CP2E CPU Unit Software User’s Manual(W614)
A-1 Instruction Functions
App
A-1-15 Data Control Instructions
A-1-15 Data Control Instructions
Instruction Mnemonic Variations Symbol/Operand Function
PID CON-
TROL WITH
AUTOTUNING
PIDAT --- Executes PID control according to the specified parameters. The
PID constants can be auto-tuned with PIDAT(191).
C: First Parameter Word
PIDAT(191)
S
C
D
S: Input word
C: 1st parameter word
D: Output word
15 8 07
C+5
0
314
C
C+1
C+2
C+3
C+4
015
C+6
81112131415
000
0347
2
Set value (SV)
Proportional band (P)
Integral constant (Tik)
Derivative constant (Tdk)
Sampling period(τ)
Forward/reverse
designation
PID constant update
timing designation
Manipulated variable
output setting
Output range
Integral and derivative unit
Input range
Manipulated variable output limit control
2-PID parameter(α)
C+7
C+8
015
C+11
C+40
C+9
C+10
015
015
121413
0 0 0
Limit-cycle Hysteresis
Manipulated variable output lower limit
Manipulated variable output upper limit
Work area
(30 words: Cannot be used by user.)
AT Calculation Gain
AT Command Bit