Pid Control - Pid - Omron CQM1H - PROGRAM Programming Manual

Special Instructions
5-28-15 PID CONTROL – PID(––)
Limitations
!Caution A total of 33 continuous words starting with P1 must be provided for PID(––)
Description
Word Bits
P1 00 to 15 Set value (SV).
P1+1 00 to 15 Proportional band width.
P1+2 00 to 15 Integral time
P1+3 00 to 15 Derivative time
P1+4 00 to 15 Sampling period
P1+5 00 to 03 Operation specifier
04 to 15 Input filter coefficient
P1+6 00 to 07 Output range
08 to 15 Input range
P1+7 to 00 to 15 Work area
P1+32
Ladder Symbol
PID(−−)
IW
P1
OW
DM 6144 to DM 6655 cannot be used for IW, P1 to P1+32, or OW.
P1 to P1+32 must be in the same data area.
to operate correctly. Also, PID(––) may not operate dependably in any of the
following situations: In interrupt programs, in subroutines, between IL(02) and
ILC(03), between JMP(04) and JME(05), and in step programming
(STEP(08)/SNXT(09)). Do not program PID(––) in these situations.
PID(––) performs PID control based on the parameters specified in P1
through P1+6. The data in IW is used to calculate the output data that is writ-
ten to OW. The following table shows the function of the parameter words.
Parameter name
This is the target value for PID control. It can be set to any binary num-
ber with the number of bits set by the input range parameter.
This parameter specifies the proportional band width/input range ratio
from 0.1% to 999.9%. It must be BCD from 0001 to 9999.
Sets the integral time/sampling period ratio used in integral control. It
must be BCD from 0001 to 8191, or 9999. (9999 disables integral con-
trol.)
Sets the derivative time/sampling period ratio used in derivative control.
It must be BCD from 0001 to 8191, or 0000.
Sets the interval between samplings of the input data from 0.1 to
102.3 s. It must be BCD from 0001 to 1023.
Sets reverse or normal operation. Set to 0 to specify reverse operation
or 1 to specify normal operation.
Determines the strength of the input filter. The lower the coefficient, the
weaker the filter.
This setting must be BCD from 100 to 199, or 000. A setting of 000 sets
the default value (0.65) and a setting of 100 to 199 sets the coefficient
from 0.00 to 0.99.
Determines the number of bits of output data. This setting must be
between 00 and 08, which sets the output range between 8 and 16 bits.
Determines the number of bits of input data. This setting must be
between 00 and 08, which sets the input range between 8 and 16 bits.
Do not use.
(Used by the system.)
When the execution condition is OFF, PID(––) is not executed and the instruc-
tion's data is maintained. While the execution condition is OFF, the desired
output data can be written directly to OW for manual control.
Operand Data Areas
IW: Input data word
IR, SR, AR, DM, EM, HR, LR
P1: First parameter word
IR, SR, DM, EM, HR, LR
OW: Output data word
IR, SR, AR, DM, EM, HR, LR
Function/Setting range
Section 5-28
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