Delta AS Series Programming Manual page 495

AS Ser ies Pro gra mm in g M anu al
NOTE: The parameters PID_MODE, Kc_Kp, Ti_Ki, Td_Kd, Tf and I MV in the function block written with a DPIDE
instruction should be declared as VAR_IN_OUT.
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Example 5: Creating a DPIDE instruction in a time interrupt program to control the temperature. (Note: use the time
interrupt as the cycle time of DPIDE.)
1. Set the time interrupt to 1000 ms in HWCONFIG.
2. Create a DPIDE instruction in a time interrupt program. Whenever a time interrupt occurs,
algorithm is applied. The setting in DPIDE_CYCLE is invalid here.
Set the DPIDE_MODE =1 for auto tuning the parameters for the
3.
the system is in auto control mode (PID_MODE is set to 0) and fill in the appropriate parameters (Kc_Kp, Ti_Ki,
Td_Kd, and Tf).
Main program (cyclic task)
6 - 2 1 6
temperature control. After tuning is done,
the PID