Omron CJ - REFERENCE MANUAL 02-2010 Reference Manual page 675

Operand Specifications
Word addresses
Area
CIO WR HR
S
C OK OK OK
D
Flags
Name
Error Flag
Greater Than Flag
Less Than Flag
Carry Flag
Function
When the execution condition is ON, PID(190) carries out target value filtered PID control with two
degrees of freedom according to the parameters designated by C (set value, PID constant, etc.). It
takes the specified input range of binary data from the contents of input word S and carries out the PID
action according to the parameters that are set. The result is then stored as the manipulated variable in
output word D.
The parameters are obtained when the execution condition turns from OFF to ON, and the Error Flag
will turn ON if the settings are outside of the permissible range.
If the settings are within the permissible range, PID processing will be executed using the initial values.
Bumpless operation is not performed at this time. It will be used for manipulated variables in
subsequent PID processing execution. (Bumpless operation is processing that gradually and
continuously changes the manipulated variable in order to avoid the adverse effects of sudden
changes.)
When the execution condition turns ON, the PV for the specified sampling period is entered and
processing is performed.
• The number of valid input data bits within the 16 bits of the PV input (S) is designated by the input
range setting in C+6, bits 08 to 11. For example, if 12 bits (4 hex) is designated for the input range,
the range from 0000 hex to 0FFF hex will be enabled as the PV. (Values greater than 0FFF hex will
be regarded as 0FFF hex.)
• The set value range also depends on the input range.
• Measured values (PV) and set values (SV) are in binary without sign, from 0000 hex to the maximum
value of the input range.
• The number of valid output data bits within the 16 bits of the manipulated variable output is
designated by the output range setting in C+6, bits 00 to 03. For example, if 12 bits (4 hex) is
designated for the output range, the range from 0000 hex to 0FFF hex will be output as the
manipulated variable.
CS/CJ/NSJ Series Instructions Reference Manual (W474)
AR T C DM EM
OK OK OK OK OK
Label
ER • ON if the C data is out of range.
• ON if the actual sampling period is more than twice the designated sampling period.
• OFF in all other cases.
> • ON if the manipulated variable after the PID action exceeds the upper limit.
• OFF in all other cases.
< • ON if the manipulated variable after the PID action is below the lower limit.
• OFF in all other cases.
CY • ON while PID control is being executed.
• OFF in all other cases.
PID control
PV input (S)
Manipulated variable (D)
Indirect DM/EM
addresses
Con-
stants
@DM *DM
DR
@EM *EM
OK
OK OK --- ---
OK
Operation
Parameters (C to C+8)
3. Instructions
Registers Flags
Pulse
bits
Indirect
IR TK CF
using IR
--- OK --- ---
TR
bits
--- ---
3
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