Omron SYSMAC CS Series Instruction & Reference Manual page 601

PIDAT
Instruction
PID CONTROL WITH
AUTOTUNING
Symbol
Applicable Program Areas
Function block
Area
definitions
Usage OK
Operands
Operand
S Input word
C First parameter word
D Output word
C: First Parameter Word
Set value (SV)
Proportional band (P)
Integral constant (Tik)
Derivative constant (Tdk)
Sampling period (τ)
15 8 7 4
C+5
2-PID parameter (α)
Input range
Manipulated variable output limit control
PID starting integral manipulated variable
designation
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Mnemonic Variations
PIDAT ---
Block program areas Step program areas
Not allowed OK
Description
3 2 1 0
0
Forward/reverse designation
PID constant update timing designation
Manipulated variable output setting
Output range
Integral and derivative unit
Function
code
Executes PID control according to the specified
191
parameters. The PID constants can be autotuned.
PID
PIDAT(191) PID(190)
S: Input word S: Input word
S
S
C C: First parameter word C: First parameter word
C
D: Output word
D D D: Output word
Subroutines Interrupt tasks
OK
Data type
UINT
WORD
UINT
15
C+7 Manipulated variable output lower limit
Manipulated variable output upper limit
C+8
15 14 13 12
0 0 0
C+9
AT Command Bit
15
C+10
C+11
Work area
(30 words: Cannot be used by user.)
C+40
3. Instructions
Function
SFC action or
transition programs
Not allowed OK
Size
1
41
1
0
0
AT Calculation Gain
0
Limit-cycle Hysteresis
3
567