Omron M1 Series User Manual page 467

Speed command
(Main setting)
PID Command (300EHex-03Hex)
(Dancer position set point)
PID Feedback (301FHex-14Hex)
(Dancer position feedback)
PID Operation
1. P operation (PID Control P Proportional Gain (300EHex-04Hex))
In this operation, the operation amount is proportional to the deviation (difference between the tar-
get value and the current value).
2. I operation (PID Control I Integral Time (300EHex-05Hex))
In this operation, the operation amount is proportional to the time integral value of the deviation.
The P operation is less effective as the current value approaches the target value due to smaller
deviation, taking a long time to reach the target value. The I operation compensates this disadvant-
age.
3. D operation (PID Control D Differential Time (300EHex-06Hex))
M1 Series EtherCAT Type User's Manual (I670)
Fixed roll
Upper limit position
Dancer roll
Reference position
Lower limit position
F
+
PID calculation
-
Step transition
Target value
Control value
Step transition
Target value
Control value
Fixed roll
Rotation speed control
Position
information
ex. 0 to 10 V
Potentiometer, etc.
Adjust the line speed with reference
to the position of the dancer roll
Upper Limit
(300EHex-13Hex)
x
Lower Limit
(300EHex-14Hex)
Ramp transition
Large
300EHex-04Hex
Small
Ramp transition
Small
300EHex-05Hex
Large
8 Other Functions
Wind-up
machine
Inverter
Frequency
+
Reference
+/-
Large
300EHex-04Hex
Small
Small
300EHex-05Hex
Large
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8