Yaskawa Ladder Works Programming Manual Manual de usuario Pagina 137
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7.6 PID CONTROL Instruction (PID)
7-16
Table of Real Type PID 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 Ki I gain Gain of the integration circuit IN
6 F Kd D gain Gain of the differentiation circuit input IN
8 F Ti Integration time Integration time (s) IN
10 F Td1 Divergence
differentiation time
The differentiation time (s) used in the case of
diverging input.
IN
12 F Td2 Convergence
differentiation time
The differentiation time (s) used in the case of
converging input.
IN
14 F IUL Upper integration limit Upper limit for the I correction value IN
16 F ILL Lower integration limit Lower limit for the I correction value IN
18 F UL Upper PID limit Upper limit for the P+I+D correction value IN
20 F LL Lower PID limit Lower limit for the P+I+D correction value IN
22 F DB PID output dead band Width of the dead band for the P+I+D correction
value
IN
24 F Y PID output PID correction output (also output to the A register) OUT
26 F Ti I correction value Storage of the I correction value OUT
28 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 IRST Integration reset "ON" is input when integration is reset. IN
1 to 7
－
(Reserve) Reserve relay for input IN
8 to F
－
(Reserve) Reserve relay for output OUT
Here, the PID operation is expressed as follows:
Y 1
X
Kp + Ki×
Ti×S
= Kd×Td×S
Y
X
= Kp＋Kd×Td×S
X : deviation input value
Y : output value
The following opertion is performed within the PID instruction:
Ti Td
Y = Kp×X +｛ ( Ki×X + IREM ) /
Ts
+ Yi'｝+ Kd× ( X – X' )×
Ts
X' : previous input value
Yi' : previous I output value
Ts : scan time set value
- 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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