Panasonic FP-E Programming Manual page 1034

High−level Instructions
Explanation of operation
Specify set value (SP) with the instruction or an indicator before the operation.
If auto−tuning is requested with a device such as indicator, the above auto−tuning request program is not
necessary.
When R1 turns on, work area DT100 to DT129 will be initialized. (However, only DT100 (MV) can be held.)
The control conditions are that operation cycle is 1 sec, derivative type reverse operation (heating), and
PWM resultion is 1000.
PID control starts from the next scan, and PWM output is executed for Y0.
Note) If execution condition R1 has turned off during PID control, PWM output Y0 also turns off. However,
output value MV is held.
Program as described above to start auto−tuning with the instruction, and turn on R1 after turning on R0.
When auto−tuning has completed successfully, R11 turns on and KP, TI and TD is set.
If R1 is on continuously, it will change to PID control automatically, and PWM output will be executed for Y0.
When changing control conditions
The area of S4+1 to S4+9 must be changed to change control conditions. Change it before the second
execution of the F356 instruction.
<Details of S4>
S4: It is divided into output (MV), specified area of control mode, auto−tuning related area and PID
processing work area. It is recommended to allocate it in the non−hold area. Also, do not use the data in
this area for other purposes.
Output (MV) and control mode area
(Normally, the default values are used.)
S4: The output value (MV) of PID processing is stored.
S4+1: Set the lower limit value of output value (MV).
S4+2: Set the upper limit value of output value (MV).
S4+3: Set 100% output band (range where PID control is not performed). k0
S4+4: Set control cycle (TS). Setting unit=10ms, default value=1sec.
S4+5: Set control mode. (Refer to the table below.)
Control mode
Derivative type
Reverse
Forward
Proportional−
Reverse
derivative type derivative type
Forward
Auto−tuning related area (The default value is normally used.)
S4+6: Set bias value for performing auto−tuning.
S4+7: Set correction data (a1) of auto−tuning result (KP).
S4+8: Set correction data (a2) of auto−tuning result (TI).
S4+9: Set correction data (a3) of auto−tuning result (TD).
S4+10: The status while auto−tuning is being performed is stored.
PID processing work area
S4+11: The area up to S4+29 is
to the work area for PID processing and auto−tuning processing.
S4+29:
3 − 770
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Reverse operation and forward operation
e.g.
Val-
ue
Reverse operation: If the measured value drops, "Reverse
operation" is specified to boost the output (heating, etc).
k0 Heating
Forward operation: If the measured value increases, "Forward
k1 Cooling
operation" is specified to boost the output (cooling, etc.).
k2 Heating
Derivative type (PI−D)/Proportional−derivative type (I−PD)
k3 Cooling
Derivated type: The speed is faster to get to set value, but it is
easily overshooted.
Proportional−derivative type: The speed is slow to get to set
value, but it is not easily overshooted.
Default value Range
k0 to
k−10000
k0 Min. k−10000
k10000 Max. k+10000
k0 to 80(%)
k100
k1 to 3000(0.01 to 30s)
k0 k0 to 3
k0 from k0
k125 k50 to k500%
k200 k50 to k500%
k100 k50 to k500%
k0 k0 to k5
0
to
0
10000