Omron SYSMAC C200HS Operation Manual page 252

Special Math Instructions
5-21-6 PID CONTROL – PID(––)
Limitations
! Caution
Description
242
In this case, the input data word, IR 010, contains #0014, and f(0014) = #0726 is
output to R, IR 011.
Y
$1F20
$0F00
$0726
$0402
(0,0)
Ladder Symbol
PID(––)
C and C+32 must be within the same data area.
Do not program PID(––) in the following situations. Doing so may produce unex-
pected behavior: In interrupt programs, in subroutines, between IL(02) and
ILC(03), between JMP(04) and JME(05), and in step programming (when using
STEP(08) and SNXT(09)).
PID(––) carries out PID control according to the designated parameters. It takes
the specified input range of binary data from the contents of input word S and
carries out the PID operation according to the parameters that are set. The re-
sults are then stored as the operation output amount in output word D.
PID parameter words range from C through C+32. The PID parameters are con-
figured as shown below.
Word
C Set value (SV)
C+1 Proportional band (P)
C+2 Tik = Integral time T
Tdk = Derivative time Td/sampling period γ (See note 1.)
C+3
Sampling period γ
C+4
C+5
2-PID parameter (
C+6
C+7 to C+32 Work area (Cannot be accessed directly from program.)
Note 1. What is set in words 2 and 3 is not the actual integral and derivative times,
but rather their values divided by the value of the sampling period γ.
2. Setting the 2-PID parameter (α) to 000 yields 0.65, the normal value.
(x,y)
$0005 $0014 $001A
S
C
D
15 to 12 11 to 8
/sampling period γ (See note 1.)
1
α
) (See note 2.)
0 Input range
Section 5-21
X
$05F0
Operand Data Areas
S: Input word
IR, SR, AR, DM, HR, LR,
C: First parameter word
IR, SR, DM, HR, LR
D: Output word
IR, SR, AR, DM, HR, LR
7 to 4 3 to 0
PID forward/
reverse designation
0 Output range