Omron SYSMAC CJ - REFERENCE MANUAL 01-2008 Reference Manual page 815

Data Control Instructions
Control Item
data
Bit 00 of C+5 PID forward/reverse
designation
Bits 13 to 14 ID starting integral
of C+6 manipulated vari-
able designation
(unit version 4.0 or
later only)
Bit 12 of C+6 Manipulated vari-
able output limit
control
Bits 08 to 11 Input range
of C+6
Bits 04 to 07 Integral and deriva-
of C+6 tive unit
Bits 00 to 03 Output range
of C+6
C+7 Manipulated vari-
able output lower
limit
C+8 Manipulated vari-
able output upper
limit
Bit 15 of C+9 AT Command Bit
776
Contents
Determines the direction of the
proportional action.
Determines the initial integral
manipulated variable when PID
control is started (i.e., when the
input turns ON) .
Determines whether or not limit
control will apply to the manipu-
lated variable output.
The number of input data bits.
Determines the unit for express-
ing the integral and derivative
constants.
The number of output data bits.
(The number of output bits is
automatically the same as the
number of input bits.)
The lower limit for when the
manipulated variable output limit
is enabled.
The upper limit for when the
manipulated variable output limit
is enabled.
This control bit starts autotuning.
• Set the AT Command Bit to 1
to perform autotuning. (Auto-
tuning can be started while
PIDAT(191) is being
cuted.)
• This bit is turned OFF auto-
matically when autotuning is
completed.
Autotuning will be interrupted if
the AT Command Bit is turned
OFF manually. In this case, the
PID constants will be enabled if
they were already calculated
when autotuning was inter-
rupted.
Setting range
0: Reverse action
1: Forward action
Bit 14 = 0 and bit 13=0:
Start from same integral manipu-
lated value as manipulated vari-
able output designation (Pre-Ver.
4.0 operation).
Bit 14 = 0 or 1 and bit 13 = 1:
Bumpless operation (i.e., start
from an integral manipulated
variable that will not abruptly
change the manipulated vari-
able output and result in a con-
tinuous change).
Bit 14 = 1 and bit 13 = 0:
Start with integral manipulated
variable = 0.
0: Disabled (no limit control)
1: Enabled (limit control)
0: 8 bits 5: 13 bits
1: 9 bits 6: 14 bits
2: 10 bits 7: 15 bits
3: 11 bits 8: 16 bits
4: 12 bits
1: Sampling period multiple
9: Time (unit: 100 ms)
0: 8 bits 5: 13 bits
1: 9 bits 6: 14 bits
2: 10 bits 7: 15 bits
3: 11 bits 8: 16 bits
4: 12 bits
0000 to FFFF (binary)
(See note 3.)
0000 to FFFF (binary)
(See note 3.)
As a Control Bit:
• 0 1:
Executes autotuning.
• 1 0:
exe-
Interrupts autotuning.
(PID(191) turns the bit OFF
automatically when autotun-
ing is completed.
As a Flag:
0: Autotuning is not being exe-
cuted.
1: Autotuning is being executed.
Section 3-18
Change with
ON input
condition
Not allowed
Allowed