Toshiba PROSEC T1 User Manual page 239

FUN 156
Expression
[ A PID3 B ® C ]
-
Input
Function
Performs PID (Proportional, Integral, Derivative) control which is a fundamental method of feed-back
control. (Pre-derivative real PID algorithm) This PID3 instruction has the following features.
· For derivative action, incomplete derivative is used to suppress interference of high-frequency
noise and to expand the stable application range,
· Controllability and stability are enhanced in case of limit operation for MV, by using digital PID
algorithm succeeding to benefits of analog PID.
· Auto, cascade and manual modes are supported in this instruction.
· Digital filter is available for PV.
· Direct / reverse operation is selectable.
Execution condition
Input
OFF Initialization
ON Execute PID every setting interval
Operand
Name
A Top of input data
B Top of parameter
C Top of output data
Input data
A Process input value
A+1 A-mode set value
A+2 C-mode set value
A+3 M-mode MV input
A+4 MV tracking input
A+5 Mode setting
A-mode: Auto mode
C-mode: Cascade mode
M-mode: Manual mode
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PID3 Pre-derivative real PID
-
Output
Operation
Device
X Y R S T.
PVC B Proportional gain
B+1 Integral time
ASV
CSV B+2 Derivative time
B+3 Dead-band
MMV
B+4 A-mode initial SV
TMV
MODE B+5 Input filter constant
B+6 ASV differential limit
B+7 MMV differential limit DMMV
B+8 Initial status
B+9 MV upper limit
B+10 MV lower limit
B+11 MV differential limit
B+12 Control interval setting
Output
OFF
ON when
execution
Register
C. XW YW RW SW T
Ö Ö Ö Ö Ö
Ö Ö Ö Ö Ö
Ö Ö Ö Ö
Control parameter
K
P
T
T
D
GP
ISV
FT
DSV
STS
MH
ML
DMV
n
Basic Hardware and Function
7. Instructions
Constant Index
C D I J K
Ö Ö
Ö Ö
Ö Ö
Output data
C Manipulation value
C+1 Last error
I
C+2 Last derivative value
C+3 Last PV
C+4 Last SV
C+5 Integral remainder
C+6 Derivative remainder
C+7 Internal MV
C+8 Internal counter
C+9 Control interval
6F3B0250
MV
e
n-1
D
n-1
PV
n-1
SV
n-1
Ir
Dr
MV
n
C
D D D D t
237