Panasonic FP7 Series Command Reference Manual page 491

Operand Parameter name Setting range
[S+7] Integral time (Ti)
Control interval
[S+8]
(Td)
Control interval
[S+9]
(Ts)
Auto-tuning
[S+10]
progress status
[S+11] to Work area for
[S+29] PID operation
(Note 1) If auto-tuning is specified in the control mode, automatic adjustment is carried out, and the set point
value is rewritten.
■
Precautions for programming
● Including the work area for operation, a 30 word area is required for the parameter table.
Ensure that this area value is not rewritten by other instructions.
● Error is not detected even if the parameter table exceeds the area. When specifying [S],
specify a number that is within a minimum of 30 words from the last number.
● Ensure that the area is not exceeded by index modification. Error is not detected even if the
area is exceeded.
● As indicated below, the system does not operate correctly if two or more PID instructions
specifying the same table are described in the program. Even if execution conditions are not
met, PID instructions operate internally using the specified table. In such cases, set the
tables to separate addresses.
■
Precautions when executing auto-tuning
● Auto-tuning may not be executable depending on the process. In that case, the system
returns to the original parameter operation.
● After auto-tuning is completed, the control mode [S] area is automatically rewritten from H
8000 through H 8003 to H 0 through H 3. Ensure that this is not rewritten again by your
program, etc.
WUME-FP7CPUPGR-12
Setting method
Specify the coefficient used for PID operation. Actual integral
K1 to K30000
time is set point value × 0.1. The integral operation is not
(0.1 to 3000 s)
executed if 0 is specified.
Specify the coefficient used for PID operation. Actual derivative
K0 to K10000
time is set point value × 0.1. The integral operation is not
(0 to 1000 s)
executed if 0 is specified.
K1 to K6000
Specify the interval for executing the PID operation. The
setting value × 0.01 is the actual control interval.
(0.01 to 60.0 s)
When auto-tuning is specified in the operation mode, the
degree of progress of auto-tuning is displayed. The values of
K0 to K5 K1 to K5 are stored according to the progress status from the
default value [0], and are returned to the default value after
auto-tuning is completed.
- This work area is used by the system program for operation.
10.11 PID (PID Operation)
(Note 1)
(Note 1)
10-41