Omron CJ - REFERENCE MANUAL 10-2009 Reference Manual page 687

Starting PIDAT(191) with Autotuning
0.00
PID
10
S
D200
C
20
D
PID control and
autotuning start.
CIO 0.00
Bit 15 of D209
PV
SV
MV
Interrupting Autotuning Before Completion
Autotuning can be interrupted by turning bit 15 of D209 (C+9) from ON to OFF. PID control will be
restarted with the P, I, and D constants that were in effect before autotuning was started.
PID control starts.
CIO 0.00
Bit 15 of D209
PV
SV
CS/CJ/NSJ Series Instructions Reference Manual (W474)
At the rising edge of CIO 0.00 (OFF to ON), autotuning will be performed first if bit
15 of D209 (C+9) is ON. When autotuning is completed, the calculated P, I, and D
constants are written to C+1, C+2, and C+3. PID control is then started with the
calculated PID constants.
Calculated PID
constants are set.
AT executing PID control
PID control PID control
AT executing
AT starts AT is interrupted.
PID control is restarted with the
existing PID constants.
Time
Time
Time
3. Instructions
3
649