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7.5 PD CONTROL Instruction (PD)
7-12
7.5 PD CONTROL Instruction (PD)
[Outline]
The PD instruction executes a PD control operation according to the contents of a previously set
parameter table. The input (Input) to the PD operation must be integer or real number data.
Double-length integer data cannot be used. The configurations of the parameter tables for integer
and real number data are different. Operations are performed by processing each parameter as an
integer consisting of the lower-place 16 bits.
Table of Integer Type PD Instruction Parameters
ADR Type Symbol Name Specification I/O
0 W RLY Relay I/O Relay input, relay output *
1
IN/OUT
1 W Kp P gain Gain of the P correction (a gain of 1 is set to 100) IN
2 W Kd D gain Gain of the differentiation circuit input (a gain of
1 is set to 100)
IN
3 W Td1 Divergence
differentiation time
The differentiation time (ms) used in the case of
diverging input.
IN
4 W Td2 Convergence
differentiation time
The differentiation time (ms) used in the case of
converging input.
IN
5 W UL Upper PD limit Upper limit for the P+D correction value IN
6 W LL Lower PD limit Lower limit for the P+D correction value IN
7 W DB PD output dead band Width of the dead band for the P+D correction value IN
8 W Y PD output PD correction output (also output to the A register) IN
9 W X Input value storage Storage of the present deviation input value OUT
*
1
: Relay I/O Bit Assignment
BIT Symbol Name Specification I/O
0 to 7
－
(Reserve) Reserve relay for input IN
8 to F
－
(Reserve) Reserve relay for output OUT
Table of Real Type PD Instruction Parameters
ADR Type Symbol Name Specification I/O
0 W RLY Relay I/O Relay input, relay output *
1
IN/OUT
1 W
－
(Reserve) Reserve register
－
2 F Kp P gain Gain of the P correction IN
4 F Kd D gain Gain of the differentiation circuit input IN
6 F Td1 Divergence
differentiation time
The differentiation time (s) used in the case of
diverging input.
IN
8 F Td2 Convergence
differentiation time
The differentiation time (s) used in the case of
converging input.
IN
10 F UL Upper PD limit Upper limit for the P+D correction value IN
12 F LL Lower PD limit Lower limit for the P+D correction value IN
14 F DB PD output dead band Width of the dead band for the P+D correction value IN
16 F Y PD output PD correction output (also output to the A register) IN
18 F X Input value storage Storage of the present deviation input value OUT
*
1
: Relay I/O Bit Assignment
BIT Symbol Name Specification I/O
0 to 7
－
(Reserve) Reserve relay for input IN
8 to F －
(Reserve) Reserve relay for output OUT
- Ladder Works 1
- TABLE OF CONTENTS 2
- 9 STANDARD SYSTEM FUNCTION 5
- Appendix 5
- 1 Relay Circuit Instructions 6
- [Outline] 10
- [Format] 10
- [Parameter] 10
- [Program Example] 10
- 1.9 COIL Instruction (COIL) 15
- [Program Example ] 22
- 2.8 MOD Instruction (MOD) 31
- 2.9 REM Instruction (REM) 32
- 2.10 INC Instruction (INC) 33
- 2.11 DEC Instruction (DEC) 35
- Instructions 54
- 3.1 AND Instruction (AND) 55
- 3.2 OR Instruction (OR) 56
- 3.3 XOR Instruction (XOR) 57
- Method of setting RSSEL 70
- Method of setting MDSEL 71
- Instruction Sequence 75
- Instruction Sequence 1 78
- Instruction Sequence 2 78
- 5.2 SINE Instruction (SIN) 86
- 5.3 COSINE Instruction (COS) 88
- 6.10 SORT Instruction (SORT) 116
- 7 DDC Instructions 122
- Parameter Name Setting 159
- ADR Type 173
- 9 Standard System Function 176
- 9.3 Trace Function (TRACE) 180
- 9.4.1 Readout of Data 182
- ■ Record Length 183
- ■ Number of Records 183
- Year and month of occurrence 185
- Day and hour of occurrence 185
- Name Bit Name Remarks 189
- 9.7.1 Parameters 191
- Bit Assignment 192
- COMMAND 192
- PARAMETER 192
- ■ Called Station # (PARAM02) 193
- ■ Function Code (PARAM04) 193
- ■ Data Address 194
- ■ Data Size (PARAM06) 194
- 9.7.2 Input 196
- 9.7.3 Program Example 197
- Figure 9.11 Program Sample 198
- 9.8.1 Parameters 200
- Function Code Setting 201
- 9.8.2 Input 202
- 9.8.3 Output 203
- 9.8.4 Program Example 204
- Figure 9.12 Program Sample 205
- Name Bit No. Remarks 207
- WRITE ENTER command 208
- 9.9.3 Program Example 209
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