Omron SYSMAC CS Series Instruction & Reference Manual page 606

3. Instructions
Note 1 When the unit is designated as 1, the range is from 1 to 8,191 times the period. When the unit is designated as 9, the
range is from 0.1 to 819.1 s. When 9 is designated, set the integral and derivative times to within a range of 1 to
8,191 times the sampling period.
2 Setting the 2-PID parameter (α) to 000 yields 0.65, the normal value.
3 When the manipulated variable output limit control is enabled (i.e., set to "1"), set the values as follows:
0000 ≤ MV output lower limit ≤ MV output upper limit ≤ Max. value of output range
4 CS1-H CPU Units, CJ1-H CPU Units, CJ1M CPU Units, and CS1D CPU Units (for Single CPU Systems) with unit
version 4.0 or later, and CJ2 CPU Units only.
Example Programming
 Interrupting PID Control to Perform Autotuning
0.00
PIDAT
10
S
C D200
20
D
W0.0
SETB
D209
#000F
Parameters
PID
PV:
calculation
CIO 10
MV output: CIO 20
572
• At the rising edge of CIO 0.00 (OFF to ON), the work area in D211 to D240 is
initialized according to the parameters (shown below) set in D200 to D208. After
the work area has been initialized, PID control is executed and the manipulated
variable is output to CIO 20.
• While CIO 0.00 is ON, PID control is executed at the sampling period intervals
according to the parameters set in D200 to D210. The manipulated variable is
output to CIO 20.
• The PID constants used in PID calculations will not be changed even if the
proportional band (P), integral constant (Tik), or derivative constant is changed
after CIO 0.00 turns ON.
• At the rising edge of W 0.0 (OFF to ON), SETB(532) turns ON bit 15 of D209
(C+9) and starts autotuning. When autotuning is completed, the calculated P, I,
and D constants are written to C+1, C+2, and C+3. PID control is then restarted
with the new PID constants.
Set value: 300
C: D200
0 1 2 C
Proportional band: 10.0%
C+1: D201
0 0 6 4
Integral time: 120.0 s
C+2: D202
0 4 B 0
Derivative time: 40.0 s
C+3: D203
0 1 9 0
Sampling
C+4: D204
0 0 3 2
period: 0.5 s
C+5: D205
0 0 0 0
C+6: D206
0 4 9 4
C+7: D207
0 0 0 0
C+8: D208
0 0 0 0
C+9: D209
0 0 0 0
C+10: D210
0 0 0 0
C+11: D211
Work area
to
C+40: D240
Reverse operation (bit 00: 0), PID constant change enable setting = OFF
(bit 01: 0), set value = manipulated variable output 50% (bit 03: 1), 2-PID
parameter = 0.65 (bits 04 to 15: 000 hex)
Manipulated variable output range: 12 bits (bits 00 to 03: 4 hex),
Integral/derivative constant: time designation (bits 04 to 07: 9 hex)
Input range: 12 bits (bits 08 to 11: 4 hex),
Manipulated variable output limit control disabled (bit 12: 0)
AT Command Bit OFF (bit 15: 0),
AT Calculation Gain = 1.00 (bits 00 to 11: 000 hex)
Limit-cycle Hysteresis = 0.20%
PID starting integral manipulated variable designation = start from same
integral manipulated value as manipulated variable output designation
(bit 14: 0 and bit 13: 0)
CS/CJ/NSJ Series Instructions Reference Manual (W474)