Omron SYSMAC CJ - REFERENCE MANUAL 08-2008 Reference Manual page 817

Data Control Instructions
000000
PIDAT
S 0010
C D00200
D 0020
W00000
SETB
D00209
#000F
Parameters
PV:
PID calculation
CIO 0010
MV output: CIO 0020
At the rising edge of W 000000 (OFF to ON), SETB(532) turns ON bit 15 of
D00209 (C+9) and starts autotuning. When autotuning is completed, the cal-
culated P, I, and D constants are written to C+1, C+2, and C+3. PID control is
then restarted with the new PID constants.
C: D00200
0 1 2 C
C+1: D00201
0 0 6 4
C+2: D00202
0 4 B 0
C+3: D00203
0 1 9 0
C+4: D00204
0 0 3 2
C+5: D00205
0 0 0 0
C+6: D00206
0 4 9 4
C+7: D00207
0 0 0 0
C+8: D00208
0 0 0 0
C+9: D00209
0 0 0 0
C+10: D00210
0 0 0 0
C+11: D00211
to Work area
C+40: D00240
PID control starts.
CIO 000000
PID control
W000000
Bit 15 of
D00209
PV
SV
MV
Set value: 300
Proportional band: 10.0%
Integral time: 120.0 s
Derivative time: 40.0 s
Sampling
Reverse operation (bit 00: 0), PID constant change enable setting =
period: 0.5 s
OFF (bit 01: 0), set value = manipulated variable output 50% (bit
03: 1), 2-PID parameter = 0.65 (bits 04 to 15: 000 hex)
Manipulated variable output range: 12 bits (bits 00 to 03: 4 hex),
Integral/derivative constant: time designation (bits 04 to 07: 9 hex)
Input range: 12 bits (bits 08 to 11: 4 hex),
Manipulated variable output limit control disabled (bit 12: 0)
AT Command Bit OFF (bit 15: 0),
AT Calculation Gain = 1.00 (bits 00 to 11: 000 hex)
Limit-cycle Hysteresis = 0.20%
PID starting integral manipulated variable
designation = start from same integral
manipulated value as manipulated variable
output designation (bit 14: 0 and bit 13: 0)
Calculated PID
constants are set.
AT executing PID control
Section 3-18
Time
Time
777