IDEC MICROSmart FC6A Series Ladder Programming Manual page 424

19: PID C I
ONTROL NSTRUCTION
4. Disable Kd (Derivative) (S3+9)
Select the Disable Kd (Derivative) check box to disable the derivative action. Derivative Action (S3+9) will be on.
Clear the Disable Kd (Derivative) check box to enable the derivative action. Derivative Action (S3+9) will be off.
5. Disable Kd (Derivative) Decay (S3+10)
Select the Disable Kd (Derivative) Decay check box to disable the derivative decay. Derivative Decay (S3+10) will be on.
Clear the Disable Kd (Derivative) Decay check box to enable the derivative decay. The derivative decay is applied to the derivative
action, and it prevents drastic changes in the output manipulated variable. Derivative Decay (S3+10) will be off.
6. Enable PV Tracking (S3+7)
Select the Enable PV Tracking check box to enable PV tracking. PV Tracking (S3+7) will be on. When the PIDD instruction is
in Manual Mode and PV tracking is enabled, the value of Process Variable (PV) (S1+0, S1+1) is copied to Set Point (SP) (S1+2,
S1+3). When switching from Manual Mode to Auto Mode, the output manipulated variable (MV) will be maintained because no
offset will occur between the process variable (PV) and set point (SP).
Clear the Enable PV Tracking check box to disable PV tracking. PV Tracking (S3+7) will be off.
S1: Control Registers
Allocation
S1+0, S1+1 Process Variable (PV)
S1+2, S1+3 Set Point (SP)
S1+4, S1+5 Remote Set Point (RSP)
S1+6, S1+7 Kp (Gain)
S1+8, S1+9 Ki (Integral)
S1+10, S1+11 Kd (Derivative)
S1+12, S1+13 — Reserved —
19-34
Function
Stores the process variable for PID control.
Read-only.
Sets the set point for PID control. Set the set point between SP Low
Limit and SP High Limit.
If the set point is higher than SP High Limit, the instruction operates
with SP High Limit. If the set point is lower than SP Low Limit, the
instruction operates with SP Low Limit. If the set point is out of range,
error code 106 will be stored in Error Status (S1+34, S1+35).
Set the master PIDD instruction output manipulated variable between
0.0 and 100.0%.
For Cascade Control Mode, the value of Remote Set Point (RSP) will be
converted to the full scale of SP Lower Range Value (S1+44, S1+45)
to SP Upper Range Value (S1+46, S1+47). If the converted set point
is higher than SP High Limit (S1+28, S1+29), the set point will be SP
High Limit. If the converted set point is lower than SP Low Limit
(S1+26, S1+27), the set point will be SP Low Limit. The converted set
point is stored in Set Point (SP) (S1+2, S1+3).
Set proportional gain between 0.00001 and 100.0 (0.00001 and
100.0%).
If the proportional gain value is less than 0.00001, the instruction
operates with 0.00001%. If the proportional gain value is greater than
100.0, the instruction operates with 100.0%. If the value is out of
range, error code 122 will be stored in Error Status (S1+34, S1+35).
Set integral gain between 0.00001 and 100.0 (0.00001 and
100.0 times/minute).
If the integral gain value is less than 0.00001, the instruction operates
with 0.00001 times/minute. If the integral gain value is greater than
100.0, the instruction operates with 100.0 times/minute.
Set derivative gain between 0.00001 and 100.0 (0.00001 and
100.0 seconds).
If the derivative gain value is less than 0.00001, the instruction
operates with 0.00001 seconds. If the derivative gain value is greater
than 100.0, the instruction operates with 100.0 seconds.
FC6A S MICROS
ERIES MART
Setting Details
—
L P M
ADDER ROGRAMMING ANUAL
R/W
R
R/W
R/W
R/W
R/W
R/W
—
FC9Y-B1726
Modifiable
during
Execution
—
Yes
Yes
Yes
Yes
Yes
—