Omron RX2 Series User Manual page 406

8 Applied Settings
(b) I operation: I gain Ki (=Ti/Kp)
This is an operation that an operation amount of PID command value is proportional to the time
integral value of the deviation between PID target value and current feedback (FB) value.
Command operation amount can be adjusted by I gain.
Integral value can be cleared by the PIDC terminal function.
Because output change becomes smaller as PID target value and FB value come closer based on
an operation amount and it takes time to reach the target value in P operation, it is compensated
with I operation.
When the target value increases stepwise
PID target value
Operation amount
(c) D operation: D gain Kd (=Kp × Td)
This is an operation that an operation amount of PID command value is proportional to the change
of the deviation between PID target value and current feedback (FB) value.
Command operation amount can be adjusted by D gain.
D operation has an effect to compensate the responsiveness of P operation and I operation.
When the target value increases stepwise
PID target value
Operation amount
PI operation is an operation with (a) and (b) combined.
PD operation is an operation with (a) and (c) combined.
PID operation is an operation with (a), (b) and (c) combined.
8 - 6
FB value
Large
I gain
Small
FB value
Large
D gain
Small
High-function General-purpose Inverter RX2 Series User's Manual
When the target value increases linearly (ramp)
PID target value
Operation amount
When the target value increases linearly (ramp)
PID target value
Operation amount
FB value
Large
I gain
Small
FB value
Large
D gain
Small