BONFIGLIOLI AGILE Applications Manual page 108

In instruction "375 PID(T1) controller", the integral time P1 (I component) and the derivative
action time P2 (D component) can be adjusted. The amplification P1 is set to the fixed value 1.
In order to set up another amplification, a P controller (instruction "370 - P controller) must be
connected to the input of the PID(T1) controller.
Note:
In the P controller (instruction 370), P1 is the amplification. In the PID(T1) controller, P1 is the
integral time.
PID controller and series-connected P controller for setting up an amplification:
Index n-1:
O1 O2 P1
= − =
Set amplification in P controller.
•
Set integral time and derivative action time in PID controller.
•
Note:
If the amplification of the PID controller is to be 1 , no P controller must be connected in series.
If a value of 100.00% is applied to the input in the form of a jump, the output value is the total
of the three components:
− P component: 100.00% constant
− I component: Ramp reaching the value of 100.00% after integral time P1.
− D component: Pulse of length of a sampling step and level
If the pulse level exceeds the limitation of the output value, the pulse will be output longer.
The output value is limited to the value at input I3.
The input can be combined with a fixed value, for example.
As long as status TRUE is present at I4 (Master Reset), the output value O1 and the I compo-
nent are 0.
Note:
Percentages [%] have two decimals.
For example: Value 12345
106
106
Index n:
P1
( )
I1 I2
× − +
n 1 - n 1 - n 1 -
P1
= 123.45% = 1.2345
IN
VPLC / PLC
VPLC / PLC
( )
n 1 -
I1 I2 dt P1
− +
∫
n 1 - n 1 - n
n
P 2
100
×
T 1
( )
d I1 I2
−
n 1 - n 1 -
P2
× ×
n
1 -
dt
%; T 1 Abtastzeit
=
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