Omron CP - PROGRAMMING MANUAL 05-2007 Programming Manual page 660

Data Control Instructions
3-17-2 PID CONTROL WITH AUTOTUNING: PIDAT(191)
Purpose
Ladder Symbol
Variations
Applicable Program Areas
Parameters
• If the period is short and hunting occurs, it may be that the control system
response is quick and the derivative action is too strong. In that case, set
the derivative action lower.
Control by measured PID
(when hunting occurs in a short period)
SV
Lower D
Executes PID control according to the specified parameters. The PID con-
stants can be autotuned.
PIDAT(191)
S: Input word
S
C: First parameter word
C
D: Output word
D
Variations Executed Each Cycle for ON Condition
Executed Once for Upward Differentiation
Executed Once for Downward Differentiation Not supported.
Immediate Refreshing Specification
Block program areas
Not allowed OK
The following diagrams show the locations of the parameter data. For details
on the parameters, refer to PID Parameter Settings in this section.
Step program areas Subroutines
OK
Section 3-17
PIDAT(191)
Not supported.
Not supported.
Interrupt tasks
Not allowed
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