Toshiba PROSEC T3H User Manual page 53

2.4.3 Floating point essential PID (FPID3)
FUN 232 FPID3
Expression
Input ─[ A+1 A FPID3 B+1 B
Function
Performs PID (Proportional, Integral, Derivative) control which is a fundamental method of feed-back control.
(Pre-derivative real PID algorithm)
The operation of this FPID3 instruction is the same as the PID3 (FUN156) instruction except for dealing data
as floating point data.
Execution condition
Input
OFF Initialization
ON Execute PID every setting interval
Operand
Name
X Y S L R Z T. C. I
A Top of input
data
B Top of
parameter
C Top of
output data
Input data
A+1 A Process input value
A-mode set value
C-mode set value
M-mode MV input
MV tracking input
Mode setting
A-mode: Auto mode
C-mode: Cascade mode
M-mode: Manual mode
Floating point essential PID
C+1 C ]─ Output
Operation
Device
O X Y
W W
Control parameter
PVC B+1 B Proportional gain
ASV Integral time
CSV Derivative time
MMV
Dead-band
TMV A-mode initial SV
MODE Input filter constant
ASV differential limit
MMV differential limit DMMV
Initial status
MV upper limit
MV lower limit
MV differential limit
Control interval setting
2. Expanded Functions
Output
OFF
ON when
execution
Register
S L R W T C D F
W W W
K C+1 C Manipulation value
P
T
I
T
D
GP
ISV
FT
DSV
STS
MH
ML
DMV
n
Con- Index
I O I J K stant
W W
Output data
Last error
Last derivative value
Last PV
Last SV
Integral remainder
Derivative remainder
Internal MV
Internal counter
Control interval
51
User's Manual
MV
e
n-1
D
n-1
PV
n-1
SV
n-1
Ir
Dr
MV
n
C
t