Panasonic AFPE224300 User Manual page 77

- (3) PID processing sample program
Sample program
Notes:
1. Before starting the auto-tuning for the first time, set the parameters (Kp, Ti, Td) specified
for the PID control.
(Using the FPWIN GR data monitor facilitates the setting.)
Setting example
⋅ DT1652: K1 Proportional gain (Kp)
⋅ DT1653: K1 Integral time (Ti)
⋅ DT1654: K0 Derivative time (Td)
2. To store the PID control parameters obtained in the auto-tuning, write them in the storage
type data area (e.g., DT 1652 to DT1653) when the auto-tuning is completed.
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Program
X0 : Auto-tuning start
(Auto-tuning is executed only once.)
R100 : Auto-tuning is being executed.
R130 : 16-bit data bit set
When the most significant digit bit
(K15) of the DT200 is "1", auto-tuning
starts.
When the most significant bit (R11F)
of the DT200 is "0", auto-tuning
completes.
R10F : Auto-tuning completes.
F10 : Block transfer instruction
Parameters (Kp, Ti, Td), which are
automatically adjusted in auto-tuning,
are stored.
X1 : PID control starts.
R101 : PID control is being executed.
X2 : PID control stops.
F355 : PID processing instruction
Always turn to "ON" while PID control.
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