Omron SYSMAC CJ - REFERENCE MANUAL 01-2008 Reference Manual page 801

Data Control Instructions
Parameters
PV: word
0010 PID control
Manipulated variable output:
CIO 0020
Input Values and
Manipulated Variable
Ranges
762
012C
C: D00200
C+1: D00201
0064
C+2: D00202
04B0
C+3: D00203
0190
C+4: D00204
0032
C+5: D00205
0000
C+6: D00206
0494
C+7: D00207
0000
C+8: D00208
0000
C+9: D00209
Work Area
to
C+38: D00238
Note
The number of valid input data bits for the measured value is designated by
the input range setting in C+6, bits 08 to 11, and the number of valid output
data bits for the manipulated variable output is designated by the output range
setting in C+6, bits 0 to 3. These ranges are shown in the following table.
C+6, bits 08 to 11 or
C+6, bits 00 to 03
0
1
2
3
4
5
6
7
8
If the range of data handled by an Analog Input Unit or Analog Output Unit
cannot be set accurately by setting the number of valid bits, APR(069)
(ARITHMETIC PROCESS) can be used to convert to the proper ranges
before and after PID(190).
The following program section shows an example for a DRT1-AD04 Analog
Input Unit and DRT1-DA02 Analog Output Unit operating as DeviceNet
slaves. The data ranges for these two Units is 0000 to 1770 hex, which cannot
be specified merely by setting the valid number of digits. APR(069) is thus
used to convert the 0000 to 1770 hex range of the Analog Input Unit to 0000
Set value: 300
Proportional band: 10.0%
Integral time: 120.0 s
Derivative time: 40.0 s
Sampling period: 0.5 s
Reverse operation (bit 00: 0), PID constant updating
timing = input condition is ON (bit 01: 0), Manipulated
variable output designation: 0% (bit 03: 0),
2-PID parameter = 0.65 (bits 04 to 15: 000 hex)
Manipulated variable output range: 12 bits (bits 00 to 03: 4
hex), Integral/derivative constants: time designation (bits 04
to 07: 9 hex), Input range: 12 bits (bits 08 to 11: 4 hex),
Manipulated variable limit control: No (bits 12: 0 hex), PID
starting integral manipulated variable designation = start
from same integral manipulated value as manipulated
variable output designation (bit 14: 0 and bit 13: 0)
When CIO 000000 is OFF, operation can be the same
as manual operation by writing to CIO 0020.
When changing from manual operation to automatic
operation by executing PID(190), extreme changes in
the manipulated value are restricted. (The manipulated
variable after switching to automatic operation will start
at the previous value of the integral manipulated
variable.)
Number of valid bits
8
9
10
11
12
13
14
15
16
Section 3-18
Range
0000 to 00FF hex
0000 to 01FF hex
0000 to 03FF hex
0000 to 07FF hex
0000 to 0FFF hex
0000 to 1FFF hex
0000 to 3FFF hex
0000 to 7FFF hex
0000 to FFFF hex