Data Control Instructions; Pidat - Omron SYSMAC CP Series Instruction & Reference Manual

Data Control Instructions

PIDAT

Instruction
PID CONTROL WITH
AUTOTUNING
Symbol
Applicable Program Areas
Area
Usage
Operands
Operand
S Input word
C First parameter word
D Output word
C: First Parameter Word
15
C Set value (SV)
C+1 Proportional band (P)
C+2 Integral constant (Tik)
C+3 Derivative constant (Tdk)
Sampling period(τ)
C+4
15 8 7
C+5
2-PID parameter(α)
15 14 13 12 11 8 7
C+6 0 0 0
Input range
Manipulated variable output limit control
CP1E CPU Unit Instructions Reference Manual(W483)
Mnemonic Variations
PIDAT ---
Step program areas
OK
Description
0
4 32 1 0
0
Forward/reverse designation
PID constant update timing designation
Manipulated variable output setting
4 3 0
Output range
Integral and derivative unit
Function
code
Executes PID control according to the specified
191
parameters. The PID constants can be autotuned.
PID
PIDAT(191)
S: Input word
S
C: First parameter word
C
D: Output word
D
Subroutines
OK
Data type
UINT
WORD
UINT
15
C+7 Manipulated variable output lower limit
C+8 Manipulated variable output upper limit
15 14 13 12
C+9 0 0 0
AT Command Bit
15
C+10
C+11
Work area
(30 words: Cannot be used by user.)
C+40
2 Instructions
Function
Interrupt tasks
Not allowed
Size
1
41
1
0
0
AT Calculation Gain
0
Limit-cycle Hysteresis
2-257
2