Omron SYSMAC CP Series Instruction & Reference Manual page 304

2 Instructions
Starting PIDAT(191) with Autotuning
0.00
PIDAT
10
S
D200
C
20
D
PID control and
autotuning start.
CIO 0.00
Bit 15 of D209
PV
SV
MV
Interrupting Autotuning Before Completion
Autotuning can be interrupted by turning bit 15 of D209 (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.
PID control starts.
CIO 0.00
PID control AT executing
Bit 15 of D209
PV
SV
2-268
At the rising edge of CIO 0.00 (OFF to ON), autotuning will be performed first if bit
15 of D209 (C+9) is ON. When autotuning is completed, the calculated 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.
Calculated PID
constants are set.
AT executing PID control
PID control
AT starts AT is interrupted.
PID control is restarted with the
existing PID constants.
Time
Time
Time
CP1E CPU Unit Instructions Reference Manual(W483)