42
Target value
Detected value
Deviation
(P)
(I)
(D)
Deviation
Bn-18
20 ms
t
Deviation
Fig. 15 Response of PID control for STEP-shape (deviation) input
•Deviation = Target value－Detected value ×Bn-16.
•P’s control output = deviation ×Bn-17.
• I’s control output will increase with time and the output will be equal to the
deviation after time specified by parameter Bn-18
The parameter Cn-55 will prevent the calculated value of the integral control (with
the integral time Bn-18) in the PID control from exceeding the fixed amount.
Bn-19
•D’s control output = difference × (
5 m sec
)
Note : The enable PID function, parameter Sn-64 must be set to 1
(21) Time Setting in Auto_Run Mode (Bn-21∼Bn-36)
•In Auto_Run mode, the time setting for individual step is described on page
97 ”auto_run mode selection and enable (Sn-44~60)”.
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