Delta AS Series Programming Manual page 482

Operand Data type
Kc_Kp REAL
Ti_Ki REAL
Function
Calculated proportional
coefficient (Kc or Kp, according
to the settings in PID_EQ)
Integral coefficient (Ti or Ki,
according to the settings in
PID_EQ)
Ch ap te r 6 Ap pl ie d Instruc ti ons
Setting range Description
sampling time
automatically. If T
less than 1, it is
counted as 1. If T
larger than 40,000, it
is counted as 40,000.
When using the PID
instruction in an
interval interrupt task,
the sampling time is
the same as the
interval between the
timed interrupt tasks.
The sampling cycle
setting of the sampling
cycle is ignored here.
Calculated
Range of
proportional
positive
coefficient (Kc or Kp)
single-
If the P coefficient is
precision
less than 0, the Kc_Kp
floating-
is 0. Independently, if
point
Kc_Kp is 0, it is not
numbers
controlled by P.
Range of If the calculated
positive coefficient I is less
single- than 0, Ti_Ki is 0. If
Ti_Ki is 0, it is not
precision
controlled by I.
floating-
point
numbers
(unit: Ti =
sec; Ki =
1/sec)
is
S
is
S
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