Omron SYSMAC CJ - REFERENCE MANUAL 01-2008 Reference Manual page 818

Data Control Instructions
Example 2:
Starting PIDAT(191) with
Autotuning
000000
PID
S
C
D00200
D
Example 3:
Interrupting Autotuning
Before Completion
At the rising edge of CIO 000000 (OFF to ON), autotuning will be performed
first if bit 15 of D00209 (C+9) is ON. When autotuning is completed, the calcu-
lated 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.
0010
0020
PID control and
autotuning start.
CIO 000000
Bit 15 of
D00209
PV
SV
MV
Autotuning can be interrupted by turning bit 15 of D00209 (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.
CIO 000000
Bit 15 of
D00209
SV
Calculated PID
constants are set.
AT executing PID control
PID control starts.
PID control
AT executing
AT starts AT is interrupted.
PV
PID control is restarted with
the existing PID constants.
Section 3-18
Time
Time
PID control
Time
779