Pid Control Instruction (Exact Differential); Positioning Instruction - Mitsubishi QCPU Structured Programming Manual

2.2.6

PID control instruction (exact differential)

Classification Instruction name
PIDINIT
Data setting
PIDINITP
PIDCONT
PID operation
PIDCONTP
PIDSTOP
PID operation stop
PIDSTOPP
PIDRUN
PID operation start
PIDRUNP
PIDPRMW
Operation
parameter change
PIDPRMWP
2.2.7

Positioning instruction

Classification Instruction name
Z_ABRST1
Z_ABRST2
Absolute position
restoration
Z_ABRST3
Z_ABRST4
ZP_PSTRT1
ZP_PSTRT2
Positioning start
ZP_PSTRT3
ZP_PSTRT4
ZP_TEACH1
ZP_TEACH2
Teaching
ZP_TEACH3
ZP_TEACH4
Writing to flash
ZP_PFWRT
ROM
Setting data
Z_PINIT
initialization
Argument
○
S
Sets data to be used for PID operation.
○
S
○
S
Performs PID operation based on the set value (SV)
and process value (PV).
○
S
○
n
Stops the PID operation for the specified loop
number.
○
n
○
n
Starts the PID operation for the specified loop
number.
○
n
○ ○
,
n S
Changes operation parameter of the specified loop
number.
○ ○
,
n S
Argument
Un * ○ ○
, ,
S d
Un * ○ ○
, ,
S d
Restores the absolute position of the specified axis.
○ ○
Un *
, S , d
Un * ○ ○
, ,
S d
Un * ○ ○
, ,
S d
Un * ○ ○
, ,
S d
Starts positioning of the specified axis.
○ ○
Un *
, S , d
Un * ○ ○
, ,
S d
Un * ○ ○
, ,
S d
○ ○
Un *
, S , d
Performs teaching for the specified axis.
Un * ○ ○
, ,
S d
Un * ○ ○
, ,
S d
Writes the QD75 parameters, positioning data, and
○ ○
Un * , ,
S d
block start data to the flash ROM.
Initializes the QD75 setting data.
Un * ○ ○
, ,
S d
2.2.6 PID control instruction (exact differential)
Processing details
Processing details
2.2 QCPU Instruction Tables
Executing
Page
condition
5-173
2
5-173
5-179
5-179
5-184
5-184
5-184
5-184
5-185
5-185
Executing
Page
condition
5-188
5-188
5-188
5-188
5-190
5-190
5-190
5-190
5-192
5-192
5-192
5-192
5-194
5-195
2-9