Delta AS Series Programming Manual page 479

AS Ser ies Pro gra mm in g M anu al
Symbol
_6
Explanation
1. This instruction implements the PID algorithm. After the sampling time is reached, the instruction applies PID
algorithm. PID stands for Proportional, Integral, Derivative. The PID control is widely applied to mechanical,
pneumatic, and electronic equipment.
2. The parameter settings are listed in the following table.
6 - 2 0 0
： Enable/Disable the instruction
EN
： Enable the PID algorithm
PID_RUN
： Target value (SV)
SV
： Process value (PV)
PV
： PID control mode
PID_MODE
： PID Auto/Manual mode
PID_MAN
： Manual/Auto output value
MOUT_AUTO
： Sampling time (CYCLE)
CYCLE
： Proportional gain
Kc_Kp
： Integral coefficient (sec. or 1/sec)
Ti_Ki
： Derivative coefficient (sec)
Td_Kd
： Derivate-action time constant (sec)
Tf
： PID formula types
PID_EQ
： Calculation of the PID derivative error
PID_DE
： PID forward/reverse direction (PID_DIR)
PID_DIR
Range within which the error value is
：
ERR_DBW
counted as 0
： Maximum output value (MV_MAX)
MV_MAX
： Minimum output value (MV_MIN)
MV_MIN
： Manual output value (MOUT)
MOUT
： Feed forward output value
BIAS
： Accumulated integral value
I_MV
： Output value (MV)
MV