Omron SYSMAC CV Series Operation Manual page 343

PID and Related Instructions
Parameters
Set value (SV)
Proportional band
Tik
Tdk
Sampling period (τ)
2-PID parameter
(α)
PID
forward/reverse
designation
Manipulated
variable output limit
control
If the manipulated variable after the PID action exceeds the upper limit, the
Greater Than (>) Flag (A50005) will turn ON and the result will be output at the
upper limit. If the manipulated variable after the PID action is less than the lower
limit, the Less Than (<) Flag (A50007) will turn ON and the result will be output at
the lower limit.
PID parameter words range from C through C+38. The PID parameters are con-
figured as shown below.
Word
C
C+1
C+2
C+3
C+4
C+5
C+6
C+7
C+8
C+9 to C+38
Note The values set for words C+2 and C+3 will vary according to the unit designated
in bits 04 to 07 of C+6.
Item
The target value of the process being
controlled.
The parameter for P action expressing the
proportional control range/total control range.
A constant expressing the strength of the
integral action. As this value increases, the
integral strength decreases.
A constant expressing the strength of the
derivative action. As this value increases, the
derivative strength decreases.
Sets the period for executing the PID action.
The input filter coefficient. Normally use 0.65
(i.e., a setting of 000). The filter efficiency
decreases as the coefficient approaches 0.
Determines the direction of the proportional
action.
Determines whether or not limit control will
apply to the manipulated variable output.
15 to 12 11 to 8
Set value (SV)
Proportional band (P)
Tik = Integral constant (See note.)
Tdk = Derivative constant (See note.)
Sampling period (τ)
α
2-PID parameter ( )
Manipulated Input range
variable
output limit
control
Manipulated variable output lower limit
Manipulated variable output upper limit
Work area (Cannot be accessed directly from program.)
Contents
Section 5-24
7 to 4 3 to 0
PID forward/
reverse designation
Integral and Output range
derivative unit
Setting range
Binary data (of the same
number of bits as specified for
the input range)
0001 to 9999 (4-digit BCD);
(0.1% to 999.9%, in units of
0.1%)
0001 to 8191 (4-digit BCD);
(9999 = Integral operation not
executed) (See note 1.)
0001 to 8191 (4-digit BCD)
(0000 = Derivative operation
not executed) (See note 1.)
0001 to 9999 (4-digit BCD);
(0.01 to 99.99 s, in units of
10 ms)
000: α = 0.65
Setting from 100 to 199
means that the value of the
rightmost two digits is set from
α= 0.00 to α= 0.99. (See note
2.)
0: Reverse action
1: Forward action
0: Disabled (no limit control)
1: Enabled (limit control)
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