Omron SYSMAC CJ - REFERENCE MANUAL 08-2008 Reference Manual page 804

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
Note
Sampling Period and
Cycle Time
764
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 lower limit for when the
manipulated variable output limit
is enabled.
The upper limit for when the
manipulated variable output limit
is enabled.
1. When the unit is designated as 1, the range is from 1 to 8,191 times the
period. When the unit is designated as 9, the range is from 0.1 to 819.1 s.
When 9 is designated, set the integral and derivative times to within a
range of 1 to 8,191 times the sampling period.
2. Setting the 2-PID parameter ( ) to 000 yields 0.65, the normal value.
3. When the manipulated variable output limit control is enabled (i.e., set to
"1"), set the values as follows:
0000 MV output lower limit
The sampling period can be designated in units of 10 ms (0.01 to 99.99 s), but
the actual PID action is determined by a combination of the sampling period
and the time of PID instruction execution (with each cycle). The relationship
between the sampling period and the cycle time is as follows:
• If the sampling period is less than the cycle time, PID control is executed
with each cycle and not with each sampling period.
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.)
MV output upper limit Max. value of output range
Section 3-18
Change with
ON input
condition
Not allowed